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hardware-in-the-loop simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors

SENSORS 2021年第4期21卷 1455-1455页

作者： Klionovska, Ksenia Burri, Matthias German Aerosp Ctr German Space Operat Ctr Munchener Str 20 D-82234 Wessling Germany

This paper addresses the validation of a robust vision-based pose estimation technique using a Photonic Mixer Device (PMD) sensor as a single visual sensor in the close-range phase of spacecraft rendezvous. First, it was necessary to integrate the developed hybrid navigation technique for the PMD sensor into the hardware-in-the-loop (HIL) rendezvous system developed by the German Aerospace Center (DLR). Thereafter, HIL tests were conducted using the European Proximity Operation Simulator (EPOS) with sun simulation and in total darkness. For the future missions with an active sensor, e.g., a PMD camera, it could be useful to use only its own illumination during the rendezvous phase in penumbra or umbra, instead of additional flash light. In some tests, the rotational rate of the target object was also tuned. Unlike the rendezvous tests in other works, here we present for the first time closed-loop approaches with only depth and amplitude images of a PMD sensor. For the rendezvous tests in the EPOS laboratory, the Argos3D camera was used at the range of 8 to 5.5 m;the performance showed promising results.

关键词： PMD sensor close range rendezvous hardware-in-the-loop simulations illumination conditions

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hardware-in-the-loop simulations for Connected Vehicle 1

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Chinese Intelligent Automation Conference (CIAC)

作者： Ma, Yulin Xu, Youchun Li, Jianshi Mil Transportat Univ Dept Mil Vehicle Tianjin Peoples R China

ISBN: (数字)9783662464663

ISBN: (纸本)9783662464663;9783662464656

Connected vehicle is a typical application that is demonstrated in intelligent transport systems. hardware-in-the-loop simulations put discrete events, finite states transition, and continuous vehicle dynamics modeling together to conveniently and effectively achieve the integration and test of connected vehicle system. The emphasis and difficulty of the connected vehicle system are discussed, including loosely coupled distributed architecture, information sharing, and conflict resolution mechanism among vehicles, roadsides and information center, and collaborative control scheme driven by discrete event flow, and results of cooperative driving for connected vehicle via HILS are also given.

关键词： Connected vehicle hardware-in-the-loop simulations Loosely coupled distributed architecture Hybrid automata Collaborative control

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hardware-in-the-loop simulations for Connected Vehicle

Hardware-in-the-Loop Simulations for Connected Vehicle

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2015年中国智能自动化学术会议

作者： Yulin Ma Youchun Xu Jianshi Li Department of Military Vehicle Military Transportation University

Connected vehicle is a typical application that is demonstrated in intelligent transport systems. hardware-in-the-loop simulations put discrete events,finite states transition, and continuous vehicle dynamics modeling together to conveniently and effectively achieve the integration and test of connected vehicle system. The emphasis and difficulty of the connected vehicle system are discussed,including loosely coupled distributed architecture, information sharing, and conflict resolution mechanism among vehicles, roadsides and information center, and collaborative control scheme driven by discrete event flow, and results of cooperative driving for connected vehicle via HILS are also given.

关键词： Connected vehicle hardware-in-the-loop simulations Loosely coupled distributed architecture Hybrid automata Collaborative control

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An Adaptive Special Protection Scheme Coordinating Multiple Generation Units for Damping Power System Natural Oscillations

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IEEE TRANSACTIONS ON POWER DELIVERY 2025年第1期40卷 226-236页

作者： Reigstad, Tor Inge D'Arco, Salvatore Sanchez-Acevedo, Santiago SINTEF Energy Res Dept Energy Syst NO-7491 Trondheim Norway

This paper presents a special protection scheme (SPS) that mitigates natural oscillations in the power system by enabling selected adaptive power oscillation damping (APOD) controllers in wind farms or synchronous generators. The SPS activation is triggered by an online power oscillation detection algorithm. Furthermore, to tackle the intricacies of time delays within the control system, an adaptive time delay compensator (ATDC) has been integrated into the SPS control scheme. The SPS is tested on the New England 39 bus system by numerical simulations and in the Nordic 44 system by experimental testing with a hardware-in-the-loop approach. The numerical results show that the proposed SPS can increase the damping of low-frequency natural oscillations (LFOs) significantly and even avoid unstable situations with growing oscillations. Moreover, the laboratory validation demonstrates that the system is able to run in real-time and that the time delays caused by PMU measurements, communication, and computation can be handled correctly. Thus, the proposed SPS concept can possibly be implemented to serve as an additional and automatic tool for the system operators to damp natural power oscillations by coordinated control of multiple sources.

关键词： Adaptive control adaptive power system stabilizers adaptive time delay compensator adaptive time delay compensator hardware-in-the-loop simulations hardware-in-the-loop simulations power system control power system control power system stability power system stability power system stabilizers power system stabilizers special protection scheme special protection scheme special protection scheme

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Fast Frequency Regulation From a Wind Farm-BESS Unit by Model Predictive Control: Method and hardware-in-the-loop Validation

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IEEE TRANSACTIONS ON SUSTAINABLE ENERGY 2023年第4期14卷 2049-2061页

作者： Cirio, Diego Conte, Francesco Gabriele, Bruno Gandolfi, Chiara Massucco, Stefano Rapizza, Marco R. Silvestro, Federico Ric Sistema Energet RSE SpA Milan Italy Univ Rome Engn Dept Campus Biomed Rome 00182 Italy Univ Genoa Dept Elect Elect & Telecomunicat Engn & Naval Arch I-16145 Genoa Italy

The integration of Renewable Energy Sources (RES) into the power system requires an upgrade of the adopted management and control solutions. Focusing on frequency regulation, the same RES, as well as loads, both possibly coupled with energy storage systems, are called to provide a contribution through suitable regulation services. In this context, this paper proposes a control strategy for enabling a unit composed by a Wind Farm and Battery Energy Storage Systems (BESSs) to provide a fast frequency regulation service. The control is based on Model Predictive Control technique, whereas the regulation service is defined according to the technical requirements of the Italian Transmission System Operator (TSO). The approach is also tested via hardware-in-the-loop simulations. More specifically, tests are carried out by implementing the control algorithm on a Raspberry Pi board that communicates with a real BESS and with a real-time simulator implementing a benchmark power system. The validation results prove the practical effectiveness of the proposed control method since they demonstrate that the designed algorithms can be implemented on a low-cost hardware and applied, without computational and communication issues, in a real-field framework.

关键词： Fast frequency regulation battery energy storage systems wind turbines model predictive control hardware-in-the-loop simulations

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A Synchronized Lissajous-Based Method to Detect and Classify Events in Synchro-Waveform Measurements in Power Distribution Networks

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IEEE TRANSACTIONS ON SMART GRID 2022年第3期13卷 2170-2184页

作者： Izadi, Milad Mohsenian-Rad, Hamed Univ Calif Riverside Dept Elect & Comp Engn Riverside CA 92507 USA

Waveform measurement units (WMUs) are a new class of smart grid sensors. They capture synchro-waveforms, i.e., time-synchronized high-resolution voltage waveform and current waveform measurements. In this paper, we propose new methods to detect and classify power quality events in power distribution systems by using synchro-waveform measurements. The methods are built upon a novel graphical concept, called synchronized Lissajous curve. The proposed event detection and event classification methods work by analyzing the shape of the synchronized Lissajous curves during disturbances and events. The impact of challenging factors, such as the angle, the location, and other parameters of the event are discussed. We show that these challenges can be addressed if we treat the synchronized Lissajous curves as images, instead of as time series as in the raw synchronized waveform measurements. Hence, we can take advantage of the recent advancements in the field of image processing so as to capture the overall characterizing patterns in the shapes of the synchronized Lissajous curves. We develop a Convolutional Neural Network (CNN) method to classify the events, where the input is the synchronized Lissajous images. The effectiveness of the proposed event detection and classification methods is demonstrated through computer simulations, including hardware-in-the-loop simulations, and real-world field data. Multiple case studies verify the performance of the proposed methods. The proposed event detection method can accurately detect events, and identify the start time and the end time of each event. The proposed event classification method can classify power quality events with high accuracy. The proposed detection and classification methods do not require any prior knowledge about the network. They use data from as few as only two WMUs.

关键词： Synchronization Voltage measurement Power quality Current measurement Power measurement Event detection Shape Synchro-waveform data-driven method waveform measurement unit power quality event convolutional neural network synchronized Lissajous curves detection classification image classification hardware-in-the-loop simulations

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Development and Experimentation of a CubeSat Magnetic Attitude Control System Testbed

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2021年第2期57卷 1345-1350页

作者： Cerveitini, Guglielmo Pastorelli, Stefano Park, Hyeongjun Lee, Dae Young Romano, Marcello Politecn Torino Dept Mech & Aerosp Engn I-10129 Turin Italy New Mexico State Univ Dept Mech & Aerosp Engn Las Cruces NM 88003 USA Iowa State Univ Dept Aerosp Engn Ames IA 50011 USA Naval Postgrad Sch Dept Mech & Aerosp Engn Monterey CA 93943 USA

For CubeSats requiring high pointing accuracy and slewing agility, ground-based hardware-in-the-loop simulations are strongly demanded to test and validate spacecraft subsystems and guidance, navigation, and control algorithms. In this article, a magnetic attitude control system (MACS) testbed for a CubeSat is developed utilizing a spherical air bearing and a Helmholtz cage. The design, development, and verification procedure of MACS is presented together with different test scenarios. To generate enough torque with the magnetorquer system in the dynamic testbed, the Helmholtz coil system of the testbed has driven to provide an augmented magnetic field. As an example of experimentation, the B-dot control algorithm was implemented to dissipate the angular momentum of the dynamic MACS testbed. The experimental results were compared with those of the numerical simulations.

关键词： Magnetic levitation Magnetic moments CubeSat Magnetometers Attitude control Torque Testing Attitude control CubeSat hardware-in-the-loop simulations magnetic control spacecraft

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The TinyV3RSE hardware-in-the-loop Vision-Based Navigation Facility

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SENSORS 2022年第23期22卷 9333-9333页

作者： Panicucci, Paolo Topputo, Francesco Politecn Milan Dept Aerosp Sci & Technol Via Giuseppe Masa 34 I-20156 Milan Italy

The increase in number of interplanetary probes has emphasized the need for spacecraft autonomy to reduce overall mission costs and to enable riskier operations without ground support. The perception of the external environment is a critical task for autonomous probes, being fundamental for both motion planning and actuation. Perception is often achieved using navigation sensors which provide measurements of the external environment. For space exploration purposes, cameras are among the sensors that provide navigation information with few constraints at the spacecraft system level. Image processing and vision-based navigation algorithms are exploited to extract information about the external environment and the probe's position within it from images. It is thus crucial to have the capability to generate realistic image datasets to design, validate, and test autonomous algorithms. This goal is achieved with high-fidelity rendering engines and with hardware-in-the-loop simulations. This work focuses on the latter by presenting a facility developed and used at the Deep-space Astrodynamics Research and Technology (DART) Laboratory at Politecnico di Milano. First, the facility design relationships are established to select hardware components. The critical design parameters of the camera, lens system, and screen are identified and analytical relationships are developed among these parameters. Second, the performances achievable with the chosen components are analytically and numerically studied in terms of geometrical accuracy and optical distortions. Third, the calibration procedures compensating for hardware misalignment and errors are defined. Their performances are evaluated in a laboratory experiment to display the calibration quality. Finally, the facility applicability is demonstrated by testing imageprocessing algorithms for space exploration scenarios.

关键词： optical camera testing vision-based navigation hardware-in-the-loop simulations optical test bench verification and validation

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Real-time agent-based control of plug-in electric vehicles for voltage and thermal management of LV networks: formulation and HIL validation

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IET GENERATION TRANSMISSION & DISTRIBUTION 2020年第11期14卷 2169-2180页

作者： Veloso, Cesar Garcia Rauma, Kalle Orjuela, Julian Fernandez Rehtanz, Christian KTH Royal Inst Technol Stockholm Sweden Tech Univ Catalonia Barcelona Spain TU Dortmund Univ Inst Energy Syst Energy Efficiency & Energy Ie3 Dortmund Germany Univ Victoria Inst Integrated Energy Syst Victoria BC Canada

Ensuring a stable and reliable operation of current and future distribution networks represents a major challenge for system operators aggravated by the global proliferation of plug-in electric vehicles (PEVs). While the introduction of a controlled charging process would be advantageous to minimise the impacts PEVs cause in the system, a suitable, efficient and ready to be implemented solution is still missing. The present work addresses this issue by proposing a smart charging management solution capable to simultaneously combat the main network impacts derived from the energy needs of the vehicles. This is done by means of an agent-based hierarchical real-time algorithm which combines a local decentralised nodal voltage management with a centralised thermal control conceived to minimise the impact upon participating users. The effectiveness of the proposed system is tested both using a simulation environment considering multiple PEV penetration levels and employing commercially available charging stations and cars through hardware-in-the-loop simulations. The results reveal how all network violations are successfully attenuated by peak shaving the total aggregated charging demand and ensuring a correct system operation for all penetration scenarios while inflicting no impact on the participating users.

关键词： distribution networks distributed power generation electric vehicles hardware-in-the loop simulation real-time systems temperature control plug-in electric vehicles thermal management LV networks distribution networks global proliferation controlled charging process smart charging management real-time algorithm local decentralised nodal voltage management centralised thermal control multiple PEV penetration levels charging stations aggregated charging demand real-time agent-based control hardware-in-the-loop simulations

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Model-based system engineering in control education using HIL simulators 21st

Model-based system engineering in control education using HI...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Cech, M. Goubej, M. Sobota, J. Visioli, A. Univ West Bohemia NTIS European Ctr Excellence Plzen Czech Republic Univ Brescia Dept Mech & Ind Engn Brescia Italy

Nowadays, model-based and knowledge-based system engineering bring completely new demands also to the master degree teaching process and programs. Specifically, it is necessary to establish gluing technologies between individual master degree courses while full STEM education scope is covered. Since huge changes in educational system are often subject to complex, time demanding evaluation and approval process, there is usually significant delay between actual industrial needs and time when universities are able to deliver to the market engineers with required knowledge and curricula. Consequently, solutions which can be implemented in actual courses without huge investments of money and time is what educators should strive for. This paper shows how simple hardware-in-the-loop (HIL) simulators may help during the whole training period while respecting needs of already established courses dealing e.g. with modeling and simulation, control design, industrial IT and communication, control HW and electronics, sensors and actuators. The concept is demonstrated on several examples of already proven procedures in primary and second control courses. Copyright (C) 2020 The Authors.

关键词： Control education hardware-in-the-loop simulations modeling model-based system engineering knowledge-based engineering STEM * education

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