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Event-triggered active return-to-center control for steer-by-wire system by a time-window algorithmic framework

Control Engineering Practice 2025年 163卷

作者： Wu, Xiaodong Liu, Shuhan Wang, Jinjie Shi, Baoran Institute of Intelligent Vehicle Shanghai Jiaotong University Shanghai200240 China Polytech Paris-Saclay Paris-Saclay University Paris91190 France Shanghai Jiaotong University Chongqing Research Institute Chongqing401135 China

Since the mechanical decoupling of the steer-by-wire system, the self-aligning torque from the vehicle tire cannot be transmitted to the steering wheel. As a result, the steering wheel does not automatically return to the center position after the driver releases the steering wheel. In order to design an active return-to-center (RTC) steering system, this paper proposes an event-triggered active RTC control for the steer-by-wire system by a time-window algorithmic framework. The active return state is worked by the slide mode control to track the steering wheel RTC speed reference. For the SBW system, an RTC speed reference model is designed to obtain referable kinematic characteristics of an ideal mechanical steering system. Additionally, an active return transition module for RTC state switching is designed by a time-state sequence transfer mechanism, which is used to reduce the jerking sensation during the transition between normal steering and active returning states. To evaluate the effectiveness of the proposed algorithms, a hardware-in-the-loop test platform with a steer-by-wire system is established. Based on the different experimental scenarios, the performance of the proposed active RTC control approach is verified by comparative analysis. © 2025 Elsevier Ltd

关键词： hardware-in-the-loop simulation

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Dynamics Enhanced Quasi-Steady-State Model of LCC-HVDC Systems Based on Neural Network

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IEEE Transactions on Power Delivery 2025年

作者： Yang, Ke Wang, Xin Zhang, Quan Geng, Guangchao Jiang, Quanyuan Zhejiang University College of Electrical Engineering Hangzhou310027 China

Existing time-domain simulation of LCC-HVDC systems faces a trade-off between accuracy and efficiency. The electromagnetic transient model can accurately emulate detailed dynamic processes, but its computational inefficiency makes it impractical for engineering applications. In contrast, the quasisteady-state model is computationally efficient but fails to adequately express the commutation process of LCC-HVDC systems and is incapable of performing in unbalanced fault scenarios. This paper proposes a neural network-based quasi-steady-state (NN-QSS) model to provide a powerful model for simulating, analyzing, and designing LCC-HVDC integrated power systems. Specifically, the NN-QSS model accurately captures and expresses the LCC-HVDC dynamic characteristics, especially in unbalanced fault scenarios, and is also capable of outputting the identification results of commutation failure occurrences as a sign during quasi-steady-state simulation. The proposed method has been validated using a modified IEEE 39-bus system, an actual provincial power system in China, and a CIGRE benchmark system based on hardware-in-the-loop. The experimental results show that the NN-QSS model is able to express dynamics close enough to electromagnetic transient models at the quasi-steadystate scale, and the commutation failure identification accuracy is improved by 18.8% relative to the existing methods. © 1986-2012 IEEE.

关键词： hardware-in-the-loop simulation

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Iterative control method of voltage source converters for various high-power applications

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IET GENERATION TRANSMISSION & DISTRIBUTION 2019年第6期13卷 881-889页

作者： Lo, Yu-Hsuan Yang, Chen-Jun Lian, Kuo-Lung Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei Taiwan Taiwan Power Co Distribut & Serv Div Taipei Taiwan Natl Taiwan Univ Sci & Technol Taiwan Bldg Technol Ctr Taipei Taiwan

High-voltage and high-power voltage source converters (VSCs) are usually operated at low switching frequencies to minimise the switching losses. This study presents a new control method suitable for low switching frequencies. It consists of two stages. In the first stage, a simple proportional controller is used to suppress any overvoltage or overcurrent during the transients. Then, after the control variables have settled to steady-state values, the iterative controller is activated to finely adjust the modulation index and firing angle of the converter to fulfil the control objectives. To justify the proposed control method, various control objectives are realised in a 10 MVA VSC system, and the results are validated by PSCAD/EMTDC and hardware-in-the-loop simulation. The results show that state variables converge within a few iterative steps, and the transient response is sufficiently fast. The proposed method is shown to perform better than the conventional PI control for eliminating the power imbalance and DC second harmonics due to the imbalance at the grid voltage.

关键词： proportional control PWM power convertors power grids power system control PI control voltage control transient response hardware-in-the loop simulation iterative methods iterative control method high-power applications high-power voltage source converters modulation index firing angle grid voltage proportional controller PI control high-voltage source converters PSCAD EMTDC hardware-in-the-loop simulation

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Multi-output identification and LQG control of a two-wheeled robot

Multi-output identification and LQG control of a two-wheeled...

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Automatics and Informatics (ICAI), International Conference

作者： Tsonyo Slavov Petko Petkov Sherif Sherif Jordan Karlev Deprtment of Control Systems TU-Sofia Sofia Bulgaria

This paper presents the design and hardware-in-the-loop (HIL) simulation of the control system of a two-wheeled robot that implements Linear-Quadratic Gaussian (LQG) controller. In contrast to the already available results based on a single-input single-output identification, a single-input multi-output identification procedure is applied for finding the robot model. A model of 5th order is derived and validated which is used to obtain an uncertainty model with two output multiplicative uncertainties. This model is used to design LQG controller that ensure robust stability and robust performance of the closed-loop system. The controller is embedded in a microcontroller and results from the closed-loop system HIL simulation are presented.

关键词： Performance evaluation Workability Uncertainty Robust stability Microcontrollers hardware-in-the-loop simulation Software algorithms

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Development of a low-cost Collision Avoidance System based on Coulomb’s inverse-square law for Multi-rotor Drones (UAVs)

Development of a low-cost Collision Avoidance System based o...

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Computational Performance Evaluation (ComPE), International Conference on

作者： Abhishek Singh Ashish Payal USIC&T Guru Gobind Singh Indraprastha University New Delhi India

ISBN: (纸本)9781665436571

A low-cost Obstacle Detection and Collision Avoidance (ODCA) System stimulated from Coulomb’s inverse-square law has been proposed, deployed, and tested on self-assembled multi-rotor system. The algorithm is focused to be inexpensive in terms of spacio-temporal complexities, cross platform, and able to run on low-cost, easily available hardware. It aims at protecting the drone from entering a complex situation in manual and autonomous flight modes. The ODCA system hardware design is focused to be easily integrable with various flight controllers. The hardware and communication interfacing among various modules required by the ODCA system have been briefly explained. Since, proposed ODCA system is tested on self-assembled drone, a small description about drone hardware, assembly, and communication mechanism is also provided. Furthermore, the ODCA system algorithm that processes sensor data in various stages and culminated actions are explained. Finally, the system is tested and evaluated in multi-obstacle scenario through hardware in the loop (HIL) simulation and their findings are shown.

关键词： Performance evaluation hardware-in-the-loop simulation Manuals hardware Complexity theory Collision avoidance Drones

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A Novel Adaptive Current Differential Protection for Wind Farms Based on Cosine Compensation Coefficient

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IET Generation, Transmission and Distribution 2025年第1期19卷

作者： Li, Yifan Hou, Bing Lv, Jiashuo Yang, Zebang North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing China

The integration of doubly-fed induction generators (DFIGs) into wind farms presents significant challenges to current differential protection (CDP). In this study, an adaptive CDP principle for wind farms is proposed. By introducing the virtual restraint current, the restraint current is significantly reduced under low-resistance faults. Additionally, a boundary model is constructed based on the complex relationship of current phasors. On this basis, the cosine compensation coefficient is formulated solely using the amplitudes and phases of the two-terminal currents, which further enhances the ability to identify high-resistance faults. The principle can also lock the restraint coefficient according to the current amplitude, thereby reducing false trips. Finally, the performance of the scheme is demonstrated by hardware-in-the-loop (HIL). Test results indicate that the proposed principle identifies faults more reliably and rapidly than the conventional CDP. The proposed principle is novel and feasible both in theory and practical applications. © 2025 The Author(s). IET Generation, Transmission & Distribution published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： hardware-in-the-loop simulation

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Advanced load shedding for integrated power and energy systems

arXiv

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arXiv 2021年

作者： Nguyen, Bang L.H. Vu, Tuyen Ogilvie, Colin Ravindra, Harsha Stanovich, Mark Schoder, Karl Steurer, Michael Konstantinou, Charalambos Ginn, Herbert Schegan, Christian Electrical and Computer Engineering Department Clarkson University PotsdamNY United States Center for Advanced Power Systems Florida State University TallahasseeFL United States Electrical Engineering Department University of South Carolina ColumbiaSC United States Naval Surface Warfare Center Philadelphia United States

This paper introduces an advanced load shedding algorithm to improve the operability performance of a medium voltage direct current (MVDC) integrated shipboard power and energy system. Outcomes are compared to a baseline algorithm while considering power generation contingency scenarios. The case study is conducted with a real-time, embedded algorithm implementation using a control hardware-in-the-loop (CHIL) setup. © 2021, CC BY-NC-ND.

关键词： hardware-in-the-loop simulation

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REALISTIC QOS OPTIMIZATION POTENTIAL AT COMMERCIAL EV CHARGING SITES THROUGH PRICING-BASED PRIORITIZATION

REALISTIC QOS OPTIMIZATION POTENTIAL AT COMMERCIAL EV CHARGI...

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CIRED 2021 - The 26th International Conference and Exhibition on Electricity Distribution

作者： T. Simolin K. Rauma A. Rautiainen P. Järventausta Unit of Electrical Engineering Tampere University Tampere Finland Institute of Energy Systems Energy Efficiency and Energy Economics TU Dortmund University Dortmund Germany Pohjois-Karjalan Sähkö Oy Joensuu Finland

At present, EVs are emerging at a fast pace. This may cause pressure for commercial buildings to offer electric vehicle (EV) charging services for their customers. In a cost-efficient charging site, it is necessary to find a balance between the costs and the offered quality of charging service (QoCS). This may be a difficult task as the charging requirements of the customers are unpredictable and vary daily. In this paper, an algorithm using a charging price-based prioritization is proposed and discussed. This can be used to take unpredictable charging requirements into account and to improve the QoCS while requiring a minimal effort from the EV users. To ensure an improvement in the QoCS and the practicality of its implementation, the algorithm is tested using hardware-in-the-loop simulations with two commercial EVs and real charging data. The results verify that the QoCS can be improved by 2% on average and by up to 16% for a single EV user. This leads to a more attractive and more cost-efficient charging site.

关键词： pricing quality of service battery powered vehicles optimisation hardware-in-the-loop simulation

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A Priority-Based Distributed Channel Access Mechanism for Control over CAN-like Networks

A Priority-Based Distributed Channel Access Mechanism for Co...

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European Control Conference (ECC)

作者： Shengquan Wang Tahmoores Farjam Themistoklis Charalambous School of Electrical Engineering Aalto University Espoo Finland

In this work, we study the distributed channel access problem for multiple subsystems equipped with smart sensors sharing a capacity-limited communication network to perform their control tasks. We propose a fully distributed scheme to use the limited communication resources efficiently with respect to a quadratic cost which reflects the control performance. More specifically, we adopt a priority assignment scheme which consists of two layers: (i) a dynamic priority that corresponds to the time-varying criticality of transmission for each subsystem, and (ii) a pre-specified static priority which ensures that channel access is collision-free. We first demonstrate how the dynamic priorities can be manipulated to allocate the resources with respect to the chosen cost. Next, we propose a synchronization method which enables fully distribute implementation over controller area network (CAN) hardware. We validate the compatibility of our method with the mature hardware technology of CAN by hardware-in-the-loop simulations. Finally, we demonstrate the efficacy of our proposed scheme and evaluate its performance in large-scale networks via simulation.

关键词： Costs hardware-in-the-loop simulation Europe Dynamic scheduling Control systems hardware Synchronization

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Toolbox for test planning and test realization of scenario-based field tests for automated and connected driving

Toolbox for test planning and test realization of scenario-b...

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5th ATZ-Fachtagung Automatisiertes Fahren - Von der Fahrerassistenz zum autonomen Fahren, 2019

作者： Otto, Thomas Auerswald, Rico Germany

ISBN: (纸本)9783658279899

Current test and validation procedures for automated and connected driving functions use field tests on public roads primarily to identify unknown critical scenarios. These scenarios are then validated or varied within simulations or on closed proving grounds. In order to validate complex urban driving scenarios, this approach may need to be supplemented by the method of scenario-based field tests in real traffic environments. Scenario-based tests constitutes the methodical basis for an efficient and purposive test of automated and connected driving functions in public testbeds. This paper focuses on concepts for the design, planning and implementation of scenario- based tests of automated and connected driving functions under real traffic conditions. The developed toolbox will be explained using the example of the "Digital Testbed Dresden/Saxony" as part of the initiative "Synchrone Mobilität 2023". © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2020.

关键词： hardware-in-the-loop simulation

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