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processor-in-the-loop co-simulations and control system design for a scaled autonomous multi-wheeled combat vehicle

INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL 2020年第2期14卷 138-160页

作者： Mohamed, Amr Ouda, A. N. Ren, Jing El-Gindy, Moustafa Univ Ontario Inst Technol Fac Engn & Appl Sci 2000 Simcoe St N Oshawa ON L1H 7K4 Canada

This paper describes the design and implementation of PID and fuzzy logic controllers for tracking the desired heading angle for a scaled autonomous multi-wheeled combat vehicle (AMWCV). The challenge of designing these control systems is to control the steering of the front four wheels individually in order to obtain the correct heading angle of the vehicle. The performance of the developed controllers is validated in the presence of noise and disturbance in order to evaluate the irrobustness. A processor-in-the-loop (PIL) co-simulation is conducted to permit and achieve amore realistic situation where the developed control algorithms are evaluated while running on a dedicated processor. The obtained results from both simulation and PIL are compared. This comparison will demonstrate the controller effectiveness in tracking the desired heading angles.

关键词： autonomous vehicle multi-wheeled combat vehicle heading control fuzzy logic classical control processor-in-the-loop PIL

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processor-in-the-loop Demonstration of MPC for HEVs Energy Management System 10th

Processor-In-the-Loop Demonstration of MPC for HEVs Energy M...

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10th IFAC Symposium on Advances in Automotive Control (AAC)

作者： Cavanini, Luca Majecki, Pawel Grimble, Mike J. Sasikumar, Lakshmy Vazhayil Li, Richard Hillier, Curt Ind Syst & Control Ltd Glasgow Lanark Scotland NXP Semicond E Kilbride Lanark Scotland NXP Semicond Austin TX USA

An Energy Management System for Hybrid Electric Vehicles is described based on a Model Predictive Control solution. This is implemented using a processor-in-the-loop simulation running on a GreenBox II development board from NXP Semiconductors. The hybrid vehicle considered contains an internal combustion engine and an electric motor in a parallel configuration. The MPC design involves a Linear Parameter-Varying model to approximate the nonlinear vehicle model and provide a simpler algorithm for implementation. The control policy was integrated into the GBII control board and assessed in simulation with the processor in the loop. The very promising performance of the proposed predictive controller in terms of mileage and battery degradation is compared with the well-established Equivalent Consumption Minimization Strategies. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license

关键词： Energy management hybrid electric vehicle model predictive control processor-in-the-loop

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processor-in-the-loop and Hardware-in-the-loop Simulation of Electric Systems based in FPGA 13

Processor-in-the-Loop and Hardware-in-the-Loop Simulation of...

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13th International Conference on Power Electronics (CIEP)

作者： Mina, J. Flores, Z. Lopez, E. Perez, A. Calleja, J. -H. CENIDET Dept Elect Engn Cuernavaca Morelos Mexico

ISBN: (纸本)9781509017751

processor-in-the-loop (PIL) is a test technique that allows designers to evaluate a controller, running in a dedicated processor, of a plant which runs in an offline simulation platform. By the other side, Hardware-in-the-loop (HIL) is an approach to test a plant or controller running in a digital platform which interacts with the real controller or plant. Here we present how to implement PIL and the preliminaries to HIL of electronic/electric systems with easy access technology through a code generation tool called Xilinx System Generator, a FPGA device and a personal computer. Two systems with different dynamics, a dc-dc buck converter and a dc motor, are selected in order to illustrate the FPGA based PIL and HIL implementation. For every system its model synthetization as well as its corresponding settings is carried out and tested.

关键词： processor-in-the-loop Hardware-in-the-loop Real Time Simulation Xilinx System Generator FPGA

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An efficient reference compensation current strategy of three-phase shunt active power filter implemented with processor-in-the-loop simulation

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INTERNATIONAL TRANSACTIONS ON ELECTRICAL ENERGY SYSTEMS 2014年第1期24卷 125-140页

作者： Chang, Gary W. Hong, Rong-Chin Su, Huai-Jhe Natl Chung Cheng Univ Dept Elect Engn Chiayi 621 Taiwan

This paper proposes an efficient method to obtain the equivalent fundamental positive-sequence voltage for determining the shunt active power filter (APF) reference compensation currents, where the source voltage magnitude and phase angle at the fundamental frequency are detected by a simplified adaptive linear combiner neural network. The APF reference current calculator is developed and is realized on the DSP board through processor-in-the-loop (PIL) simulation for validating the effectiveness of the proposed APF control strategy, where the source voltages and the load currents are both distorted and unbalanced. In addition, results obtained based on the true positive-sequence fundamental source current after APF compensation and another classic approach are included for comparison. It is shown that results obtained by the PIL simulations with the proposed and compared methods agree very well. The proposed APF reference compensation current strategy is simple and practical, which provides a cost-effective and computationally efficient manner for the APF controller implementation with PIL simulations. Copyright (c) 2013 John Wiley & Sons, Ltd.

关键词： active power filter harmonics power quality processor-in-the-loop

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Software and processor-in-the-loop Execution for a Grid Connected Modular Multi-Level Converter 26

Software and Processor-in-the-Loop Execution for a Grid Conn...

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IEEE 26th International Conference on Electronics, Electrical Engineering and Computing (INTERCON)

作者： Galarza, Jose Univ Nacl Ctr Peru UNCP Fac Ingn Elect & Elect Huancayo Peru

ISBN: (纸本)9781728136462

The modular multi-level converter is an emerging technology for high-voltage applications, renewable energy and motor drive. By using the model-based design, the embedded software is designed step by step, main interest are software in-the-loop and processor-in-the-loop approaches. The converter modelling and control have been thoroughly investigated in the literature, a verification of the controllers according with both approaches are presented in this paper. The submodule-level averaged model is used in a 150 MW grid connected converter. Test numerical equivalence is developed in host platform for the software-in-the-loop stage. processor-in-the-loop stage by behaviour test of the code generated is tested, the simulation is developed in the Texas Instruments F28335 Delfino MCU processor. It is concluded that the presented control strategies in-the-loop simulations are closed to the model simulated in Matlab/Simulink, this verification is a valuable results for the next implementation in real-time simulation.

关键词： Modular multi-level converter processor-in-the-loop software-in-the-loop

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processor-in-the-loop Demonstration of MPC for HEVs Energy Management System

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IFAC-PapersOnLine 2022年第24期55卷 173-178页

作者： Luca Cavanini Pawel Majecki Mike J. Grimble Lakshmy Vazhayil Sasikumar Richard Li Curt Hillier Industrial Systems and Control Ltd Glasgow UK NXP Semiconductors East Kilbride UK NXP Semiconductors Austin USA

关键词： Energy management hybrid electric vehicle model predictive control processor-in-the-loop

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processor-in-the-loop and Hardware-in-the-loop Simulation of Electric Systems based in FPGA

Processor-in-the-Loop and Hardware-in-the-Loop Simulation of...

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International Conference on Power Electronics

作者： J. Mina Z. Flores E. López A. Pérez J.-H. Calleja Electronics Engineering Department CENIDET Cuernavaca Mexico

ISBN: (纸本)9781509017768

关键词： processor-in-the-loop Hardware-in-the-loop Real Time Simulation Xilinx System Generator FPGA

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A Mechanical Sensorless MPPT Algorithm for a Wind Energy Conversion System based on a Modular Multilayer Perceptron and a processor-in-the-loop Approach

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ELECTRIC POWER SYSTEMS RESEARCH 2020年 186卷 106409-106409页

作者： Lopez-Flores, David R. Duran-Gomez, Jose L. Chacon-Murguia, Mario, I Tecnol Nacl Mexico IT Chihuahua Chihuahua Chih Mexico

This paper proposes a novel mechanical-sensorless maximum power point tracking (MPPT) algorithm for a 400 W wind energy conversion systems (WECS). The algorithm is based on a permanent magnet synchronous generator (PMSG), which is connected to a rotor side power converter via a three-phase diode rectifier (3P-DR). In order to achieve a practical implementation and capture the maximum wind energy from a wide range of wind speed values by means of a cost-effective MPPT method, the novel MPPT algorithm is developed via the combination of an intelligent modular multilayer perceptron (MLP) approach and a simplified model of WECS. The rotational speed of the wind turbine (WT) is predicted by the modular MLP. This speed is used by the simplified model to compute the optimal current reference, which is used by a control interface for the rotor side power converter to track the maximum power point (MPP) of WECS. The modular MLP, which includes three feed-forward MLP structures, is designed by considering 266,001 data recorded from each conduction modes of the 3P-DR, namely: 2/0, 2/3, and 3/3 modes. Each MLP structure consists of two inputs, five neurons in the hidden layer and an output layer with one neuron, obtaining a considerable reduction in its computational complexity. The output voltage and current of the 3P-DR are the inputs to the modular MLP, while the rotational speed is the target to learn. Results based on the processor-in-the-loop (PIL) approach, clearly show that the efficiency of the MPPT process is 99.95% when WECS is subjected to random noise conditions and wind gusts at very high speed (in average above 7 m/s).

关键词： Wind energy conversion system Maximum power point tracking Modular multilayer perceptron processor-in-the-loop

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Design and implementation of a variable-structure adaptive fuzzy-logic yaw controller for large wind turbines

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JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 2016年第5期30卷 2773-2785页

作者： Farag, Wael El-Hosary, Hanan El-Metwally, Khaled Kamel, Ahmed Cairo Univ Dept Elect Power Engn Cairo Egypt Amer Univ Middle East AUM Dept Elect Engn Kuwait Kuwait

The current trend of wind energy generation industry is to use large and ultra-large wind turbines that can reach more than 10 MW in ratings;especially in off-shore wind farms. Therefore, more emphasis is being given by researchers to increase the harvested energy by each individual wind turbine. Previously, more focus has been given to pitch control techniques of turbine blades for improving the harvested energy and lowering the turbine maintenance cost. However, still not enough work is done to investigate the effectiveness of nacelle yaw control in improving the harvested energy specifically for large wind turbines. In this paper, we introduce a new yaw controller based on adaptive fuzzy systems. The control objective of the proposed controller is to effectively track of the wind direction by yaw motion of the turbine nacelle. For that reason, it is a fuzzy-logic-based controller that has the capability to adaptively tune its rule base online. The change in the fuzzy rule base is done using a variable structure direct adaptive control algorithm to achieve the pre-defined control objectives. This algorithm has two advantages. First, it has a good performance in the training phase as it makes use of the initial rule base defined for the fuzzy logic yaw controller. Second, it has a robust estimator since it depends on a variable structure technique. The adaptive nature of the proposed controller significantly reduces the rule base size and improves its performance. The previous statement is verified through three levels of testing. The first level is Model-In-the-loop (MIL) MATLAB/SIMULINK extensive simulations, with the performance results get compared to that of a carefully tuned Proportional-Integral-Differential (PID) controller. The second level of testing is through Software-In-the-loop (SIL) testing using the same use cases. The last level is the processor-in-the-loop (PIL) experimental tests using a Texas Instruments TMS320F28335 digital signal processing bo

关键词： Wind turbine Fuzzy Logic Control (FLC) yaw control adaptive control Model-In-the-loop Software-In-the-loop processor-in-the-loop

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Design and verification of photovoltaic MPPT algorithm as an automotive-based embedded software

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SOLAR ENERGY 2018年 171卷 414-425页

作者： Cheddadi, Youssef Errahimi, Fatima Najia, Es-sbai Sidi Mohamed Ben Abdellah Univ Lab Renewables Energy & Intelligent Syst Rd ImouzzerBP 2202 Fes Morocco

This paper presents the design and verification process of the Maximum Power Point Tracking Controller in accordance with the automotive development process standards, which could be used in Photovoltaic charging stations or in on-board chargers of electric vehicles. Considered as an automotive embedded software, the designed MPPT controller follows a sequence of three tests of the Model-based design MBD Approach to be verified and validated. The ultimate aim is to present a road map to design, test and validate an embedded software of the MPPT algorithm in vehicle based software. We design a modified Perturb and Observe P&O algorithm, then we generate optimized C code for a 32 bit ARM cortex microcontroller. Next, the algorithm is simulated through Model-in-the loop MIL, Software-in-the loop SIL, and finally co-simulated through processor-in-the-loop PIL technique in the low cost STM32F429 discovery development board. During all the different tests, the designed embedded software shows a high accordance with MPPT requirement and high performances.

关键词： Embedded software Validation and verification MPPT Model-based design Software in the loop processor-in-the-loop

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