This paper presents the guidance algorithm for the circular formation flight of multiple fixed-wing UAVs. The formation guidance law aims at reducing both the radial and the phase angle error with respect to the movin...
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This paper presents the guidance algorithm for the circular formation flight of multiple fixed-wing UAVs. The formation guidance law aims at reducing both the radial and the phase angle error with respect to the moving reference point located at a fixed distance from the leader UAV. To this end, the proposed guidance law generates the desired course angle and the inertial speed commands for each follower UAV. The control commands are then converted to the roll angle and the airspeed commands for the autopilot. The theoretical stability proof is rigorously analyzed via the Lyaupunov method. The performance of the proposed control law is compared with the existing vector-field formation guidance scheme via numerical simulation. After the extensive validation using the hardware-in-the-loopsimulation environment which includes the mesh network communication system, the flight test are performed to demonstrate not only the performance of the proposed algorithm but also the robustness to the wind disturbance.
The rise of the fourth industrial revolution and the interest in autonomous production led to increased adoption of Cyber-Physical Production Systems (CPPS) in the industry. Due to the significant suitability of Multi...
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The rise of the fourth industrial revolution and the interest in autonomous production led to increased adoption of Cyber-Physical Production Systems (CPPS) in the industry. Due to the significant suitability of Multi-Agent Systems in building cyber-physical production systems compliant with the Reference Architectural Model Industry 4.0 (RAMI 4.0), more CPPS are being realized using Industrial Agents. Because of their complexity, guidelines for conducting virtual commissioning of agent-based CPPS are required. This paper proposes a novel framework for the virtual commissioning of agent-based CPPS. The framework contributions reside in incorporating both high-level and low-level control verification and validation (V&V) and employing two combined SIL and HIL approaches during the virtual commissioning of agent-based CPPS. The feasibility of the framework was demonstrated during the V&V of an agent-based CPPS on an industrial-scale laboratory robotized production cell. The framework had a significant impact on reducing the cost and efforts of the agent-based CPPS virtual commissioning.
hardware-in-the-loop (HiL) simulation enables the development of electronic control units (ECUs) for automotive applications, requiring high-precision models to represent key components like electromechanical actuator...
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hardware-in-the-loop (HiL) simulation enables the development of electronic control units (ECUs) for automotive applications, requiring high-precision models to represent key components like electromechanical actuators. Most actuators incorporate significant friction, which is challenging to model. This paper proposes physical and data-driven modeling methods for electromechanical actuators. Both methods successfully achieved HiL simulation for functionally testing ECUs.
This paper presents an investigation into the performance of a fixed caliper based electronic wedge brake (FIXEWB) in a vehicle braking system. Two techniques were used as assessment methods, which are simulation via ...
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This paper presents an investigation into the performance of a fixed caliper based electronic wedge brake (FIXEWB) in a vehicle braking system. Two techniques were used as assessment methods, which are simulation via MATLAB Simulink software and experimental study through hardware-in-the-loop-simulation (HILS). In the simulation study, the vehicle braking system was simulated by using a validated quarter vehicle traction model with a validated FIXEWB model as the brake actuator. A proportional-integral-derivative controller was utilized as the brake torque control, whereas proportional-integral and proportional controllers were used as the position and speed control of the actuator, respectively. To study the effectiveness of the FIXEWB, the response of the vehicle using the FIXEWB is compared with the responses of a vehicle using a conventional hydraulic brake. A dynamic test, namely braking in the sudden braking at constant speeds of 40 and 60 km/h was then used as the testing method. The simulation results show that the usage of the FIXEWB with an appropriate control strategy produces similar behavior to that of a hydraulic brake in terms of the produced desired braking torque but with faster time response. To study the performance of the FIXEWB when implemented on a real vehicle, an experimental rig using HILS was designed and the results are analyzed using the same dynamic tests. The performance areas evaluated are vehicle body speed, wheel speed, tire longitudinal slip, and the stopping distance experienced by the vehicle. The outcomes from this study can be considered in the design optimization of an antilock braking system control in a real car in the future.
This paper introduces a testing mothod about hydroturbine governing system based on dSPACE hardware-in-the-loop-simulation. PID parameters are adjusted by hardware-in-the-loop -simulation. The results of the simulatio...
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ISBN:
(纸本)9780878492183
This paper introduces a testing mothod about hydroturbine governing system based on dSPACE hardware-in-the-loop-simulation. PID parameters are adjusted by hardware-in-the-loop -simulation. The results of the simulation show that it can provide simple, intuitive simulation model, and make parameters adjusting more intuitive and easier. The validity of the testing platform have been testified by the results of real-time simulation and hardware-in-the-loop-simulation. The superiority of controldesk in the real-time simulation is prominent.
This paper presents a new design of an electronic fixed calliper-based wedge brake system. The movement of both sides of the brake piston is activated by a wedge block mechanism. The proposed fixed calliper-based elec...
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This paper presents a new design of an electronic fixed calliper-based wedge brake system. The movement of both sides of the brake piston is activated by a wedge block mechanism. The proposed fixed calliper-based electronic wedge brake system is a class of hydraulic-free device. The mechanism consists of two sets of wedge blocks, a ball screw drive shaft, a sliding beam and an electric motor. In this mechanism, the rotation of the shaft of the electric motor is converted into linear motion by using a ball screw drive shaft while the linear motion of the drive shaft will force the sliding beam to be displaced linearly. This will activate the wedge mechanism, which will cause the pad to be displaced tangentially to the disc brake. The movement of the pad in pressing the disc will generate clamping force and produce brake torque when the wheel rotates. In this study, the mathematical model of the system that generates the clamping force was identified. The model was based on a second order transfer function. The proposed mathematical model was then validated experimentally using a brake test rig installed with several sensors and input-output (10) device. The performance of the brake mechanism in term of rotational input of the drive shaft and clamping force produced by the brake were observed. Accordingly, a torque tracking proportional-integral-derivative (PID) control of the system was proposed and studied through simulation and experiment. Comparisons between experimental results and model responses were made. It is found that the trend between simulation results and experimental data are similar, with an acceptable level of error.
Due to the growing complexity of powertrain systems,an efficient development process increasingly hinges on early evaluation testing of concepts under realistic conditions in the context of the whole *** question of e...
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Due to the growing complexity of powertrain systems,an efficient development process increasingly hinges on early evaluation testing of concepts under realistic conditions in the context of the whole *** question of energy efficiency,emissions and driving performance is crucial and indispensably requires a holistic evaluation under real driving *** paper presents an approach to ensure efficient powertrain development by means of virtual powertrain electrification on the engine test *** comparison to road tests with prototype vehicles,the virtual test driving approach allows for highly flexible and reproducible tests with significant reduction of time and costs.
This article introduces a set of wind power testing platform Based on dSPACE hardware-in-the-loop-simulation, and the control principle about wind power is researched and analyzed based on this testing plat form. The ...
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This article introduces a set of wind power testing platform Based on dSPACE hardware-in-the-loop-simulation, and the control principle about wind power is researched and analyzed based on this testing plat form. The validity of the testing platform have been testified by the results of off-line simulation and hardware-in-the-loop-simulation. The superiority of ControlDesk in the real-time simulation is prominent.
Virtual validation system for inverter and motor control of air conditioners and other inverter heat pump systems is developed. This system is composed by hardware-in-the-loopsimulation (HILS) with a real-time simula...
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ISBN:
(纸本)9781479927050
Virtual validation system for inverter and motor control of air conditioners and other inverter heat pump systems is developed. This system is composed by hardware-in-the-loopsimulation (HILS) with a real-time simulator. The validity and effectiveness of the simulation system is confirmed through application examples: optimization of the motor control parameters and vibration suppression control of compressors.
Virtual validation system for inverter and motor control of air conditioners and other inverter heat pump systems is developed. This system is composed by hardware-in-the-loopsimulation (HILS) with a real-time simula...
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ISBN:
(纸本)9781479927067
Virtual validation system for inverter and motor control of air conditioners and other inverter heat pump systems is developed. This system is composed by hardware-in-the-loopsimulation (HILS) with a real-time simulator. The validity and effectiveness of the simulation system is confirmed through application examples: optimization of the motor control parameters and vibration suppression control of compressors.
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