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Conference on Sensors and Systems for Space Applications IV

作者： Ma, Ou Zebenay, Melak Boge, Toralf New Mexico State Univ Dept Mech & Aerosp Engn Las Cruces NM 88003 USA Germany Aerosp Operat Ctr DLR D-82234 Wessling Germany

ISBN: (纸本)9780819486189

One of the most challenging and risky missions for spacecraft is to perform Rendezvous and Docking (RvD) autonomously in space. To ensure a safe and reliable operation, such a mission must be carefully designed and thoroughly verified before a real space mission can be launched. This paper describes the impact-contact dynamics simulation capability of a new, robotics-based, hardware-in-the-loop (HIL) RvD simulation facility which uses two industrial robots to simulate 6-DOF dynamic maneuvering of two docking satellites. The facility is capable of physically simulating the final approaching within 25-meter range and the entire docking/capturing process in a satellite on-orbit servicing mission. The paper briefly discusses the difficulties of using industrial robots for HIL contact dynamics simulation and how these problems are solved. Admittance control strategy is proposed to control the robotic system to make the robot dynamically behave like the spacecraft during a physical interception. The control strategy works as an outer loop on the top of the existing control system of the industrial robot and hence, it does not require altering the joint control hardware and software which are inaccessible for an industrial robot. A simulation study has shown that the methodology can accurately simulate the impact-contact dynamics behavior of the spacecraft in a docking operation.

关键词： Rendezvous docking contact dynamics hardware-in-the-loop simulation satellite on-orbit servicing

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hardware-in-the-loop (HIL) Implementation and Validation of SAE Level 2 Automated Vehicle with Subsystem Fault Tolerant Fallback Performance for Takeover Scenarios

SAE International Journal of Connected and Automated Vehicle...

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SAE International Journal of Connected and Automated Vehicles 2018年第1期1卷

作者： Joshi, Adit Ford Motor Company

The advancement towards development of autonomy follows either the bottom-up approach of gradually improving and expanding existing Advanced Driver Assist Systems (ADAS) technology where the driver is present in the control loop or the top-down approach of directly developing autonomous vehicle hardware and software using alternative approaches without the driver present in the control loop. Most ADAS systems today fall under the classification of SAE Level 1 which is also referred to as the driver assistance level. The progression from SAE Level 1 to SAE Level 2 or partial automation involves the critical task of merging automated lateral control and automated longitudinal control such that the tasks of steering and acceleration/deceleration are not required to be handled by the driver under certain conditions. However, the driver is still required to monitor the driving environment and handle scenarios where control is handed over to the driver due to subsystem faults of the automated system. Due to the disadvantages of vehicle testing being expensive, time-consuming and hazardous for testing such scenarios, an alternative method of development and validation is required. Therefore, the objectives of this research are two-fold. The first objective focuses on a real-time powertrain-based hardware-in-the-loop (HIL) implementation and validation of an SAE Level 2 automated vehicle. The second objective focuses on studying the performance of SAE Level 2 automated vehicles during takeover scenarios due to subsystem faults. To accomplish these objectives, an acceleration-based Adaptive Cruise Control (ACC) was combined with a path-following lateral control along with supervisory control for system mode transitions due to system deactivations and faults. This research presents system modes in which longitudinal control only and lateral control only are engaged as fallback states to the automated system being faulted for lateral control and longitudinal control failures r

关键词： hardware-in-the-loop simulation

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hardware-In-the-loop Emulation of a Small Electric Race Car Using Energetic Macroscopic Representation

Hardware-In-the-Loop Emulation of a Small Electric Race Car ...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Tommaso Transi Paulo G. Pereirinha Alain Bouscayrol Michele Degano Andres Camilo Henao-Munoz Power Electronics Machines and Control Research Group University of Nottingham Nottingham United Kingdom Dept. of Electrical Engineering INESC Coimbra Coimbra Portugal L2EP University of Lille Lille France Univ. of Oviedo - Campus Gijon Gijon Spain

The objective of this work is to describe the implementation of hardware-In-the-loop (HIL) simulation for an electric Formula Student car, previously represented through Energetic Macroscopic Representation (EMR). HIL simulation can be seen as an intermediate step between software simulation and the production process of an actual device or power system. This allows more realistic results, without investing lot of time for the development of the full system. Results from HIL simulations and software simulations match, apart from some minor differences.

关键词： Traction motors hardware-in-the-loop simulation Automobiles Servomotors Torque Batteries Software

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A hardware-in-the-loop simulation Method of the Network Performance of High-speed Railway Mobile Communication System

A Hardware-in-the-loop Simulation Method of the Network Perf...

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6th International ICST Conference on Communications and Networking in China (CHINACOM)

作者： Lin, Kaifeng Zhong, Zhangdui Xiong, Lei Lin, Siyu Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing Peoples R China

ISBN: (纸本)9781457701016

In this paper, a hardware-in-the-loop (HIL) simulation method of network performance of high-speed railway mobile communication system is proposed. The radio channel emulator and GSM for railway (GSM-R) system are used in the simulation system to imitate the actual GSM-R network in the high-speed railway. Based on this method, the realization of simulation of the wireless network is illustrated in detail including how to imitate the large-scale, small-scale fading and interference in the radio channel emulator. Then the circuit switching quality of service (QoS) indicators, such as end-to-end transmission delay and transmission interference, are measured using this method. According to the measurement results, the movement speed does not significantly affect the transmission delay while the transmission interference performance gets worse with the increasing of movement speed. Finally, some further research on the wireless network performance is proposed based on the simulation method.

关键词： hardware-in-the-loop simulation handover network performance high-speed railway

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A Cost-Effective Approach to hardware-in-the-loop simulation

A Cost-Effective Approach to Hardware-in-the-Loop Simulation

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9th International Conference on Mechatronics

作者： Pedersen, M. M. Hansen, M. R. Ballebye, M. Aalborg Univ Dept Mech & Mfg Engn DK-9220 Aalborg Denmark Univ Agder Dept Engn Grimstad Norway

ISBN: (纸本)9783642232435

This paper presents an approach for developing cost effective hardware-in-the-loop (HIL) simulation platforms for the use in controller software test and development. The approach is aimed at the many smaller manufacturers of e. g. mobile hydraulic machinery, which often do not have very advanced testing facilities at their disposal. A case study is presented where a HIL simulation platform is developed for the controller of a truck mounted loader crane. The total expenses in hardware and software is less than 10.000$.

关键词： hardware-in-the-loop simulation

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Real-Time Modeling and HIL simulation of Stacked Low-Inertia Converters with Soft-Switching and Fast Dynamic Control

Real-Time Modeling and HIL Simulation of Stacked Low-Inertia...

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IEEE Energy Conversion Congress and Exposition

作者： Xiangyu Han Liran Zheng Rajendra Prasad Kandula Karthik Kandasamy Maryam Saeedifard Deepak Divan School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

This paper presents the challenges in modeling of low-inertia soft-switching converters, such as soft-switching solid-state transformers (S4T), particularly for implementing fast-dynamic control using hardware-in-the-loop (HIL) tools. The low-inertia design leads to increased control challenges as decoupling between the input and the output is reduced. The control becomes more complex when such low-inertia converters need to be stacked using modular S4T modules (M-S4T) for medium voltage applications. Control of an M-S4T is a multi-objective, multi-degree-of-freedom problem, which requires fast-dynamic control. The non-idealities of the controller, sensors and communication channels etc. should be considered in modelling for HIL simulation to verify such fast-dynamic control algorithm. This paper discusses the challenges and a methodology to model such low inertia converters to perform an HIL real-time (RT) simulation. A quasi-real-time (QRT) HIL model is proposed to simulate this type of converters and controls. simulation results of the HIL model of an M-S4T under steady state and transient conditions are compared to experimental results, showing that the QRT HIL model can simulate the low inertia physical converter with fast dynamic control accurately.

关键词： hardware-in-the-loop simulation Control systems Voltage control Sensors Integrated circuit modeling Computational modeling Delays

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Designing 3-DOF hardware-In-The-loop Test Platform Controlling Multirotor Vehicles

Designing 3-DOF Hardware-In-The-Loop Test Platform Controlli...

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3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control (PID)

作者： Hancer, Muhsin Bitirgen, Rahman Bayezit, Ismail Necmettin Erbakan Univ Fac Aeronaut & Space Sci Konya Turkey Istanbul Tech Univ Fac Aeronaut & Astronaut Istanbul Turkey

Main idea of this paper is the development of hardware-in-the-loop test platform in order to flight mechanical modeling and better stabilization of multirotor vehicles via different feedback control structures, including PID controllers. First, nonlinear mathematical model of the quadrotor platform is built and validated via Matlab/Simulink based simulation ***, hardware-in-the-loop (HIL) test scenario is developed to analyze and tune controller parameters with the help of in-house designed testbed mechanism. Next step is observing the quadrotor attitude maneuvers via embedded hardware over the gyroscopic gimballed testbed. The HIL testbed enables us validate and calibrate model and control parameters within real-time environment including inertial and mechanical sensors for multirotor systems. In this study, the particular platform is IRIS cross-type quadrotor vehicle PID based control for stable hover flight. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： hardware-in-the-loop simulation Model Based Design Flight Mechanical Modeling Engine Test Platform Pixhawk Processor Rotary Wing Aerial Vehicles Multirotor Systems Real-time PID Control

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Model driven system engineering for vehicle system utilizing model driven architecture approach and hardware-in-the-loop simulation

Model driven system engineering for vehicle system utilizing...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Chong, Seng Wong, Chi-Biu Jia, Haibo Pan, Hongtao Moore, Philip Kalawsky, Roy O'Brien, John Mechatronics Research Centre Department of Engineering De Montfort University Leicester United Kingdom Research School of Systems Engineering Systems Engineering Innovation Centre Loughborough University Leicestershire United Kingdom

ISBN: (纸本)9781424481149

In this paper, we show how Model Driven System Engineering (MDSE) can be applied in the development of a vehicle system. The drivers for the research have been to increase efficiency, flexibility and reconfigurability of UK vehicle system engineering, for enhanced competitiveness and innovation in face of increasing global competitions. Key contributions of the research include (i) establishment of baseline Model Driven Architecture (MDA) approach at the platform independent level;(ii) identification of suitable methodology and toolset (based on Rhapsody / Simulink combination) to permit MDA system designs and hardware-in-the loop (HIL) simulation (based on xPC Target by Mathworks) for system verification;(iii) design and development of a model transformer for seamless transformation of the Rhapsody model to a Simulink model. The end outcome is a streamlined, integrated development platform to facilitate integration of various subsystems and verification of overall system performance to meet the desired system requirements. A case study based on a vehicle system (in this case a train system) had been implemented to verify the effectiveness and capability of the development platform by designing and developing an engine controller and an ABS controller for the train system. The research outcomes shown promising results, which are anticipated to benefit the wider transport sectors, as well as other sectors such as manufacturing and automation. © 2011 IEEE.

关键词： hardware-in-the-loop simulation

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Effect of coupling point selection on distortion in internet-distributed hardware-in-the-loop simulation

Effect of coupling point selection on distortion in internet...

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作者： Ersal, Tulga Gillespie, R. Brent Brudnak, Mark Stein, Jeffrey L. Fathy, Hosam K. Department of Mechanical Engineering University of Michigan Ann Arbor MI 48109 United States U.S. Army RDECOM-TARDEC Warren MI 48397 United States Pennsylvania State University University Park PA 16802 United States

ISBN: (纸本)9781457700804

Internet-distributed hardware-in-the-loop (IDHIL) simulation integrates HIL setups between geographically dispersed engineering teams and fosters concurrent systems testing early in the design process. The question naturally arises: what is the cost in fidelity incurred by distributing the simulation across Internet links? The degree to which an Internet-distributed simulation loses fidelity relative to a single-location HIL setup is referred to as distortion in this paper. Various factors affect distortion, including the Internet's delay, jitter, and loss, as studied extensively in the literature. Additional considerations, however, such as the coupling points, i.e., the particular points at which the system model shall be divided to enable distribution across the Internet, also affect distortion. The aim of this paper is to turn coupling point selection into a design decision that can be used to minimize distortion. To quantify distortion, a frequency-domain metric is proposed using a linear systems framework. This metric is then used to analyze how the choice of the coupling point affects distortion, and it is also linked to a sensitivity function, which is easier to interpret physically. This analysis can be used in an ID-HIL setup to pick a coupling point that gives minimal distortion, and is the first step towards analyzing the trade-off between stability robustness and transparency in an ID-HIL system. © 2011 AACC American Automatic Control Council.

关键词： hardware-in-the-loop simulation

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Designing hardware-in-the-loop simulation system for missile with high level architecture

Designing hardware-in-the-loop simulation system for missile...

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2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

作者： Su, Keqiang Fu, Wenxing College of Astronautics NWPU Xi'an China

ISBN: (纸本)9781612847221

The hardware-in-the-loop simulation system is a necessary technique in the development of modern weapons. To improve the precision and real-time of the hardware-in-the-loop simulation system, the High Level architecture(HLA) is used to construct a new hardware-in-the-loop simulation system. Firstly, we give a brief introduction to HLA and apply HLA to the hardware-in-the-loop simulation system. A simulation support software developed according to the specifications of HLA interface, RTI provides a number of interconnected simulation services and serve as the basis for the HLA simulation system to do layer management and extensible distributed simulation. The whole simulation system is considered as a federation and distributed into several federations to carry out the distributed simulation. We reach the conclusion that the problems for the practical application of HLA to a large-scale interactive simulation system will be solved by enhancing the algorithm and performance of RTI software. © 2011 IEEE.

关键词： hardware-in-the-loop simulation

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