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hardware simulations of Spacecraft Attitude Synchronization Using Lyapunov-Based Controllers

INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES 2018年第1期19卷 120-138页

作者： Jung, Juno Park, Sang-Young Eun, Youngho Kim, Sung-Woo Park, Chandeok Yonsei Univ Dept Astron Astrodynam & Control Lab Seoul 03722 South Korea

In the near future, space missions with multiple spacecraft are expected to replace traditional missions with a single large spacecraft. These spacecraft formation flying missions generally require precise knowledge of relative position and attitude between neighboring agents. In this study, among the several challenging issues, we focus on the technique to control spacecraft attitude synchronization in formation. We develop a number of nonlinear control schemes based on the Lyapunov stability theorem and considering special situations: full-state feedback control, full-state feedback control with unknown inertia parameters, and output feedback control without angular velocity measurements. All the proposed controllers offer absolute and relative control using reaction wheel assembly for both regulator and tracking problems. In addition to the numerical simulations, an air-bearing-based hardware-in-the-loop (HIL) system is used to verify the proposed control laws in real-time hardware environments. The pointing errors converge to with numerical simulations and to using the HIL system. Consequently, both numerical and hardware simulations confirm the performance of the spacecraft attitude synchronization algorithms developed in this study.

关键词： Attitude synchronization hardware-in-the-loop simulation Lyapunov-based control Spacecraft formation flying

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Development and experimental validation of a multi-algorithmic hybrid attitude determination and control system for a small satellite

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AEROSPACE SCIENCE AND TECHNOLOGY 2018年 78卷 494-509页

作者： Lee, Dae Young Park, Hyeongjun Romano, Marcello Cutler, James Univ Texas Austin Ctr Space Res Austin TX 78712 USA New Mexico State Univ Mech & Aerosp Engn Las Cruces NM 88003 USA US Navy Postgrad Sch Mech & Aerosp Engn Monterey CA USA Univ Michigan Aerosp Engn Ann Arbor MI 48109 USA

Advanced missions of satellites are increasingly demanding more accurate and robust attitude maneuvering capabilities. However, it is difficult to achieve especially for small satellites due to limited hardware resources of sensors, actuators, and processors. In this paper, to achieve the desired performance, a multi algorithmic hybrid attitude determination and control system (ADCS) that utilizes a family of control and estimation algorithms is developed and implemented in numerical simulations and experiments for a small satellite. The hybrid automaton framework of the ADCS is designed to accomplish the desired performance with the limited hardware capability by switching the control and estimation algorithms effectively for given situations in space. The performance of the hybrid ADCS is evaluated through numerical and hardware-in-the-loop simulations that are based on a three-dimensional air-bearing testbed, CubeSat Three-Axis Simulator (CubeTAS). simulation and experimental results demonstrate the effectiveness of the multi-algorithmic hybrid ADCS. The significance of this paper is in demonstrating that the hybrid automaton framework can be an effective approach to handle operational situations in space. It also provides a design reference for a small satellite ADCS. (C) 2018 Elsevier Masson SAS. All rights reserved.

关键词： Small satellite CubeSat Attitude determination and control system hardware-in-the-loop simulation Hybrid system control

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hardware-in-the-loop Platform for Assessing Battery State Estimators in Electric Vehicles

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IEEE ACCESS 2018年 6卷 68210-68220页

作者： Morello, Rocco Di Rienzo, Roberto Roncella, Roberto Saletti, Roberto Baronti, Federico Univ Pisa Dipartimento Ingn Informaz I-56122 Pisa Italy

The development of new algorithms for the management and state estimation of lithium-ion batteries requires their verification and performance assessment using different approaches and tools. This paper aims at presenting an advanced hardware in the loop platform that uses an accurate model of the battery to test the functionalities of battery management systems (BMSs) in electric vehicles. The developed platform sends the simulated battery data directly to the BMS under test via a communication link, ensuring the safety of the tests. As a case study, the platform has been used to test two promising battery state estimators, the adaptive mix algorithm and the dual extended Kalman filter, implemented on a field-programmable gate array-based BMS. The results show the importance of the assessment of these algorithms under different load profiles and conditions of the battery, thus highlighting the capabilities of the proposed platform to simulate many different situations in which the estimators will work in the target application.

关键词： hardware-in-the-loop simulation battery management system battery state estimation electric vehicles lithium-ion batteries system testing and verification

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Real time implementation of socially acceptable collision avoidance of a low speed autonomous shuttle using the elastic band method

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MECHATRONICS 2018年 50卷 341-355页

作者： Wang, Haoan Tota, Antonio Aksun-Guvenc, Bilin Guvenc, Levent Ohio State Univ Ctr Automot Res Automated Driving Lab Columbus OH 43212 USA Ohio State Univ Dept Mech & Aerosp Engn Columbus OH 43212 USA Ohio State Univ Dept Elect & Comp Engn Columbus OH 43212 USA Politecn Torino Dept Mech & Aerosp Engn I-10129 Turin Italy

This paper presents the real time implementation of socially acceptable collision avoidance using the elastic band method for low speed autonomous shuttles operating in high pedestrian density environments. The modeling and validation of the research autonomous vehicle used in the experimental implementation is presented first, followed by the details of the hardware-In-the-loop connected and autonomous vehicle simulator used. The socially acceptable collision avoidance algorithm is formulated using the elastic band method as an online, local path modification algorithm. Parameter space based robust feedback plus feedforward steering controller design is used. Model-in-the-loop, hardware-In-the-loop and road testing in a proving ground are used to demonstrate the effectiveness of the real time implementation of the elastic band based socially acceptable collision avoidance method of this paper.

关键词： Socially acceptable collision avoidance Collision avoidance Autonomous shuttle Elastic band method hardware-in-the-loop simulation Road testing

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hardware-in-the-loop simulation system for duplication of actual running conditions of a multiple-car train consist

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Quarterly Report of RTRI (Railway Technical Research Institute) (Japan) 2011年第1期52卷 1-6页

作者： Watanabe, Nobuyuki Maki, Yasutaka Shimomura, Takayuki Tohtake, Takayuki Sasaki, Kimiaki Morishita, Hayato Eunning Gear Laboratory Vehicle Structure Technology Division Japan Vehicle Dynamics Laboratory Japan Vehicle Structure Technology Division Japan

Bench tests for existing railcars are effective for measuring their dynamic performance. However, to date it has not possible to duplicate the actual running conditions of one car to a multiple car train consist. This paper explains the development of a hardware-in-the-loop simulation (HILS) system composed of an actual car, a distributed real-time simulator, a real-time network and car end simulators that simulate the dynamic behavior of the end surfaces of adjacent car bodies. This report introduces the HILS system and shows the results of shaking tests on the actual car used to reproduce the running conditions of a three-car train in the HILS system.

关键词： hardware-in-the-loop simulation

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Design of the wind tunnel based virtual flight testing evaluation method for flight control systems

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2018年第1期232卷 17-29页

作者： Huang, Min Wang, Zhong-wei Guo, Zhen-yun Niu, Yao-bin Natl Univ Def Technol Sci & Technol Scramjet Lab Changsha 410073 Hunan Peoples R China

In order to provide a method for evaluating flight control systems with the wind tunnel based virtual flight testing and provide a guide for building virtual flight testing systems, the virtual flight testing evaluation method was researched. The virtual flight testing evaluation method consisted of three parts: virtual flight testing method, virtual flight testing data processing method, and flight control system performance determination method, which were respectively designed for a pitching control system. Then, the hardware-in-the-loop simulation evaluation method was presented, and comparisons between the virtual flight testing and hardware-in-the-loop simulation evaluation method were conducted to highlight the characteristics of virtual flight testing evaluation method. Finally, virtual flight testing simulation models of a sample air vehicle were built and virtual flight testing were simulated to demonstrate the virtual flight testing evaluation method, which is helpful for the understanding of the virtual flight testing evaluation method with more sensibility. The evaluation results show that the virtual flight testing evaluation method designed can be used for flight control system evaluation.

关键词： Flight control systems wind tunnel based virtual flight testing evaluation method hardware-in-the-loop simulation

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A unified approach to fixed-wing aircraft path following guidance and control

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AUTOMATICA 2019年 108卷

作者： Kai, J. -M. Hamel, T. Samson, C. Univ Cote Azur I3S CNRS Sophia Antipolis France Univ Cote Azur I3S Inst Univ France CNRS Sophia Antipolis France INRIA Sophia Antipolis France UCA CNRS I3S Sophia Antipolis France

This paper addresses the path following control problem for scale-model fixed-wing aircraft. Kinematic guidance and dynamic control laws are developed within a single coherent framework that exploits a simple generic model of aerodynamic forces acting on the aircraft and applies to almost all regular 3D paths. The proposed control solutions are derived on the basis of theoretical stability and convergence analyses, and validated via realistic hardware-in-the-loop simulations. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Fixed-wing aircraft Nonlinear control design Path-following hardware-in-the-loop simulation

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Satellite Formation Flight simulation Using Multi-Constellation GNSS and Applications to Ionospheric Remote Sensing

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REMOTE SENSING 2019年第23期11卷

作者： Peng, YuXiang Scales, Wayne A. Virginia Tech Corp Res Ctr Ctr Space Sci & Engn 1341 Res Ctr Dr Suite 1000 Blacksburg VA 24061 USA Virginia Tech Bradley Dept Elect & Comp Engn Blacksburg VA 24061 USA

The Virginia Tech Formation Flying Testbed (VTFFTB) is a global navigation satellite system (GNSS)-based hardware-in-the-loop (HIL) simulation testbed for spacecraft formation flying with ionospheric remote sensing applications. Past applications considered only the Global Positioning System (GPS) constellation. The rapid GNSS modernization offers more signals from other constellations, including the growing European system-Galileo. This study presents an upgrade of VTFFTB with the incorporation of Galileo and the associated enhanced capabilities. By simulating an ionospheric plasma bubble scenario with a pair of LEO satellites flying in formation, the GPS-based simulations are compared to multi-constellation GNSS simulations including the Galileo constellation. A comparison between multi-constellation (GPS and Galileo) and single-constellation (GPS) shows the absolute mean and standard deviation of vertical electron density measurement errors for a specific Equatorial Spread F (ESF) scenario are decreased by 32.83% and 46.12% with the additional Galileo constellation using the 13 July 2018 almanac. Another comparison based on a simulation using the 8 March 2019 almanac shows the mean and standard deviation of vertical electron density measurement errors were decreased further to 43.34% and 49.92% by combining both GPS and Galileo data. A sensitivity study shows that the Galileo electron density measurements are correlated with the vertical separation of the formation configuration. Lower C/N-0 level increases the measurement errors and scattering level of vertical electron density retrieval. Relative state estimation errors are decreased, as well by utilizing GPS L1 plus Galileo El carrier phase instead of GPS L1 only. Overall, superior performance on both remote sensing and relative navigation applications is observed by adding Galileo to the VTFFTB.

关键词： GNSS GPS Galileo satellite formation flying ionospheric remote sensing hardware-in-the-loop simulation

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A Benchmark System for hardware-in-The-loop Testing of Distributed Energy Resources

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IEEE Power and Energy Technology Systems Journal 2018年第3期5卷 94-103页

作者： Kotsampopoulos, Panos Lagos, Dimitris Hatziargyriou, Nikos Faruque, M. Omar Lauss, Georg Nzimako, Onyi Forsyth, Paul Steurer, Michael Ponci, F. Monti, A. Dinavahi, V. Strunz, Kai Smart Grids Research Unit School of Electrical and Computer Engineering National Technical University of Athens Zografou15780 Greece Department of Electrical and Computer Engineering Center for Advanced Power Systems Florida State University TallahasseeFL32310 United States Energy Department Austrian Institute of Technology Vienna1210 Austria RTDS Inc. WinnipegMBR3T 2E1 Canada Institute for Automation of Complex Power Systems E.ON Energy Research Center RWTH Aachen University Aachen52074 Germany Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2V4 Canada SENSE Lab Berlin University of Technology Berlin10587 Germany

In order to overcome challenges associated with the integration of distributed energy resources (DER) into state-of-The-art and future power grids, a common basis for testing using appropriate benchmark systems is required. Real-time hardware-in-The-loop (HIL) simulation has proven to be an advanced and efficient tool for the analysis and validation of electric power systems and DER components. However, a common methodology for HIL testing of DER along with the required set of reference systems has not yet been developed. This task-force paper proposes a benchmark system for HIL testing incorporating DER into the real-time simulation environment. A low-voltage benchmark system with detailed HIL setup is proposed for the testing of DER performance. The modeling of DER for real-time applications is discussed, and the detailed laboratory procedures and setups for both controller HIL (CHIL) and power HIL (PHIL) are provided. Results from CHIL simulation related to the centralized controls and experimental results of PHIL simulation related to local control on the benchmark system substantiate the suitability of the proposed real-time simulation approach. © 2014 IEEE.

关键词： hardware-in-the-loop simulation

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Real-time co-simulation for the virtual commissioning of production systems

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Procedia CIRP 2019年 79卷 397-402页

作者： Christian Scheifele Alexander Verl Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 Stuttgart 70174 Germany

During virtual commissioning, the real control technology is put into operation in advance using a model-based digital twin of the production system. The growing demands on the significance of digital twins result in the need for higher model depths and model scopes of the behavior models used. However, new approaches to enhance the usable computing power in a real-time simulation are required. This paper presents a real-time co-simulation platform for virtual commissioning. The platform includes the integration of powerful technology-specific simulation solutions based on integration interfaces and a real-time co-simulation architecture based on partitioning, parallelization, synchronization and data exchange mechanisms.

关键词： real-time co-simulation hardware-in-the-loop simulation virtual commissioning digital twin virtual CNC physics-based simulation

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