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Development and application of an integrated framework for small UAV flight control development

MECHATRONICS 2011年第5期21卷 789-802页

作者： Paw, Yew Chai Balas, Gary J. Univ Minnesota Dept Aerosp Engn & Mech Minneapolis MN 55455 USA

This paper presents an integrated framework for small Unmanned Aerial Vehicle (UAV) flight control development. The approach provides a systematic procedure for flight control design process with a set of design tools that enables control engineers to rapidly synthesize, analyze and validate a candidate controller design. A model-based environment integrated with control synthesis, off-line and real-time simulation is developed for flight control synthesis, analysis and testings. The effectiveness of the proposed integrated framework is demonstrated by applying the framework approach to a small UAV testbed. Software-in-the-loop, processor-in-the-loop and flight testings are conducted with the synthesized controller implemented. Closed-loop performance and robustness results obtained are presented. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Flight control Unmanned Aerial Vehicle processor-in-the-loop Integrated framework

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Model Predictive Control of an Automotive Driveline for Optimal Torque Delivery with Minimal Oscillations during Torque Converter Slipping Conditions

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SAE INTERNATIONAL JOURNAL OF PASSENGER CARS-MECHANICAL SYSTEMS 2021年第1期14卷 51-66页

作者： Nadeem, Syed Ahmad Reddy, Prithvi Shahbakhti, Mahdi Ravichandran, Maruthi Doering, Jeffrey Michigan Technol Univ Houghton MI 49931 USA Univ Alberta Edmonton AB Canada Ford Motor Co Dearborn MI 48121 USA

During certain driving scenarios, low-speed engine vibrations get propagated to the driveline and affect the drivability of a vehicle. To reduce the impact of these vibrations, a locked torque converter lockup clutch (TCC) is allowed to temporarily slip to increase the damping in the driveline. However, the initial slow dynamics of the fluid path of the torque converter cause the vehicle to feel sluggish. In this article, we design a model predictive controller (MPC) that optimally controls the torque request from the actuator (i.e., engine or e-motor) and the lockup clutch capacity for reducing this sluggishness. The study is conducted for a light-duty vehicle and uses an experimentally validated, detailed full-order model (FOM) for developing and validating a computationally efficient, reduced-order driveline model (ROM). The ROM includes the nonlinear dynamics of the torque converter's hydraulic coupling, and the drivetrain response of the ROM is within 2.4% of the FOM's response. The designed controller makes use of an electronic control unit (ECU)-estimated reference turbine torque command, measured actuator, turbine, and wheel speed signals as inputs and provides actuator torque command and TCC capacity command as outputs. We validate the controller's performance using model-in-the-loop (MIL) and processor-in-the-loop (PIL) experiments. The results show the designed controller overcomes the torque lag at the propeller shaft by 83%. We also verify the robustness of the designed controller to various cases of torque converter's transient fluid dynamics and multiple clutch slip initiations. We observe that the controller provides the desired response of the drivetrain with a maximum error of 4.1% in the delivered propeller shaft torque when compared with the locked TCC response.

关键词： Powertrain Model predictive control Torque converter Driveline oscillations Drivability Torque lag processor-in-the-loop Physics based model development Adaptive control

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MIL, SIL and PIL Implementation for Closed loop Control ofFlyback Converter

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GAZI UNIVERSITY JOURNAL OF SCIENCE 2024年第2期37卷 701-716页

作者： Ali, Muhammad Sen, Ismet Ozturk, Salih Baris Avci, Emre Istanbul Tech Uni Dep Elect Engn TR-34469 Istanbul Turkiye Duzce Uni Dep Elect & Elect Engn TR-81620 Duzce Turkiye

Power electronic systems are rapidly evolving;thus,effective prototyping methods are required to test control algorithms and assess system performance prior to hardware implementation. This research suggests a Model-In-The-loop (MIL), Software-In-The-loop (SIL), and processor-in-the-loop (PIL) methodologies-based complete prototyping strategy for flyback converters using the TIF28069M Launchpad kit. These techniques can be combined to evaluate control strategies accurately and quickly, speeding up design cycles and enhancing system reliability. The proposed prototyping platform is presented in this work, along with a thorough explanation of each prototyping stage and its associated advantages. The effectiveness of the suggested approachfor 50W rated power flyback converter in terms of quick algorithm development, system simulation, real-time control implementationand controller design accuracy isanalyzed andshown by experimental *** results show that the performance of the designed controller for the flyback converter is almost the same as in MIL and SIL implementation in terms of the overshoot and settling time in the reference voltage tracking. On the other hand, in the PIL implementation, the overshoot performance of the controller deviates by 1.18% more than in SIL and MIL *** alsoconfirm thatthe flyback control system's performance isreliable and effective during all phases of development.

关键词： Rapid prototyping Flyback converter Model-In-The-loop Software-In-The-loop processor-in-the-loop

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A Harmonic Voltage Elimination in Electric Railway System Using Series Active Power Filter 25

A Harmonic Voltage Elimination in Electric Railway System Us...

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25th International Conference on Electrical Machines and Systems (ICEMS)

作者： Panpean, Chakrit Areerak, Kongpol Santiprapan, Phonsit Rajamangala Univ Technol Isan Sch Elect Engn Nakhon Ratchasima 30000 Thailand Suranaree Univ Technol Sch Elect Engn Nakhon Ratchasima 30000 Thailand Prince Songkla Univ Dept Elect Engn Hat Yai 90110 Thailand

ISBN: (纸本)9781665493024

Harmonic distortion has been a big problem in railway electrification systems because high-speed trains create harmonics in the distribution grids of railway electrification systems. Thus, for the efficient use of high-speed trains, the harmonic voltage must be improved for the railway electrification system. This paper proposes compensating voltage control in cooperation with a series active power filter (SAPF) using the PI controller for harmonic voltage elimination. In addition, the harmonic voltage detection with a positive sequence voltage detector (PSVD) is presented in this paper. To verify the proposed harmonic voltage elimination, the processor-in-the-loop (PIL) simulation technique was applied to the proposed system. Matlab/Simulink program was utilized to model the electric railway system, while the overall control of SAPF were implemented digitally with CCStudio program on the eZdspTM F28335 board. The results of the PIL technique testing show that the SAPF with the proposed control can show the good performance of eliminating harmonic voltage distortion. Consequently, the percentage of total harmonic voltage distortion (%THDV) that is in line with IEEE Standard 519-2014.

关键词： harmonic elimination series active power filter positive sequence voltage detector processor-in-the-loop

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Concept of Automated Transportation Center and its PIL Model

Concept of Automated Transportation Center and its PIL Model

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World Congress on Engineering and Computer Science

作者： Ozana, Stepan Pies, Martin Horacek, Ondrej Zidek, Jan VSB Tech Univ Ostrava Dept Cybernet & Biomed Engn Ostrava 70833 Czech Republic

ISBN: (纸本)9789881925312

The paper deals with the concept of control design and processor-in-the-loop (PIL) model of Automated Transportation Center (ATS) designed as a heavy laboratory operated by VSB-Technical University of Ostrava. It presents technical description of the object, the main concept of PIL model and its particular solution for ATS. It uses REX Control system as a real-time target running on ALIX system board that handles the software model of real technology while the real control system based on Simatic PLCs stays unchanged. The communication between PLCs and ALIX is provided by PROFINET protocol while all of the original I/O signals are re-mapped to match the PROFINET communication standard.

关键词： Automated Transportation Center control system processor-in-the-loop REX Control System

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HAPiWEC: Towards a Rapid Prototyping Rig for Wave Energy Control Co-Design and Testing

HAPiWEC: Towards a Rapid Prototyping Rig for Wave Energy Con...

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OCEANS Conference

作者： Price, Alexandra Campos-Gaona, David McCallum, Peter Yazdanpanah, Reza Mortazavizadeh, Seyed Abolfazl Univ Edinburgh Edinburgh Scotland Univ Strathclyde Glasgow Scotland

ISBN: (纸本)9798350332261

The HAPiWEC project (Holistic Advanced Prototyping and Interfacing for Wave Energy Control) aims to design, build and operate a rapid-prototyping tool for control of wave energy converters (WECs). This paper describes the design considerations for the rig, the control hardware and the associated workflows and methods. A systematic design process was employed to specify the requirements and identify which were synergistic or conflicting. Several iterations were required to converge on an integrated solution.

关键词： control wave energy co-design processor-in-the-loop

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Attitude Control of Microsatellite Using PWM Method: Verification Using PIL

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JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE 2021年第4期7卷 245-248页

作者： Shou, Ho-Nien Air Force Inst Technol Dept Aviat & Commun Elect Kaohsiung Taiwan

The missions of micro-satellites range from early military usages to weather forecast, resources exploration, communication, and scientific experiment. The advantages of micro-satellites are simple mechanical structures, great reliability, low prices, and precise researchers and equipment. Therefore, due to the limits of weight and power, this kind of micro-satellite with low design cost and high precision requires reducing unnecessary attitude sensors and controllers to ensure the precision of attitude control. Besides, it adapts the least hardware constituting attitude system, which is the future trend in the satellite engineering. In this article, an estimating technology about measuring angle speed with a gyro less is mentioned. This technology is based on the period change which the earth magnetic field gets along the track. Only by using a three axis magnetometer, it can produce the data from the micro-satellite measuring the earth magnetic field. Besides, the measures of three axis angle speed and attitude angle can be gotten through Kalman filtering. The purpose of this article is mainly to explore the problem on attitude detumbling control of micro-satellites departing away a carrier to enter a track. It is realized by a thruster to proceed the confinement of the satellite moving, the attitude stable control and processor-in-the-loop. (C) 2020 The Authors. Published by Atlantis Press B.V.

关键词： Three axis magnetometer earth magnetic field Kalman filtering processor-in-the-loop

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Synthesis and validation of flight control for UAV

Synthesis and validation of flight control for UAV

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作者： Paw, Yew Chai University of Minnesota

学位级别：Ph.D.

Unmanned Aerial Vehicles (UAVs) are widely used worldwide for a board range of civil and military applications. There continues to be a growing demand for reliable and low cost UAV systems. This is especially true for small-size mini UAV systems where majority of systems are still deployed as prototypes due to their lack of reliability. Improvement in the modeling, testing and flight control for the small UAVs would increase their reliability during autonomous flight. The traditional approach used in manned aircraft and large UAV system synthesizing, implementing and validating the flight control system to achieve desired objectives is time consuming and resource intensive. This thesis aims to provide an integrated framework with systematic procedures to synthesize and validate flight controllers. This will help in the certification of UAV system and provide rapid development cycle from simulation to real system flight testing. The effectiveness of the approach is demonstrated by applying the developed framework on a small UAV system that was developed at the University of Minnesota. The thesis is divided into four main parts. The first part is mathematical modeling of the UAV nonlinear simulation model using first principle theory. Flight test system identification technique is used to extract model and model uncertainty parameters to update the nonlinear simulation model. The nonlinear simulation model developed must be able to simulate the actual UAV flight dynamics accurately for real-time simulation and robust control design purposes. Therefore it is important to include model uncertainties into the nonlinear simulation model developed, especially in small UAV system where its dynamics is less well understood than the full-size aircraft. The second part of the work provides the approach and procedures for uncertainty modeling into the nonlinear simulation model such that realization of linear uncertain model is possible. The third part of work describes the fli

关键词： Flight Control processor-in-the-loop Robust Control UAV Uncertainty modeling Validation Aerospace Engineering and Mechanics

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Delay Compensation on Optimal Switching Vector Model Predictive Control Applied to a Grid-Forming Inverter with an Output LC Filter in an Islanded Microgrid 15

Delay Compensation on Optimal Switching Vector Model Predict...

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15th IEEE International Conference on Industry Applications, INDUSCON 2023

作者： de Andrade Campos, Bernardo F. Rolim, Luís Guilherme Barbosa Encarnação, Lucas Frizera Tricarico, Thiago Cardoso Electrical Engineering Department Federal University of Rio de Janeiro Rio de Janeiro Brazil Electrical Engineering Department Federal University of Espirito Santo Vitória Brazil

ISBN: (纸本)9798350314182

This work studies the effects of delay compensation on the Optimal Switching Vector Model Predictive Control (OSV-MPC) strategy applied to a grid-forming inverter in an islanded microgrid. The main objective is to compare the power quality of the output voltage synthesized by the controller in three scenarios: standard OSV-MPC, OSV-MPC with delay compensation and OSV-MPC with delay compensation and Lagrange extrapolation on the output voltage reference signal. A processor-in-the-loop simulation scheme is implemented, with a Texas Instruments F-28379D microcontroller holding the control algorithm and MATLAB/Simulink being used to model the power system. Five different load conditions are considered: no load, capacitive, inductive, non-linear and unbalanced loads. The total harmonic distortion (THD), mean absolute error (MAE) and total frequency spread (TFS) are calculated for each case, as well as the processing time of each OSV-MPC variation is measured. © 2023 IEEE.

关键词： Delay Compensation Islanded Microgrids Model Predictive Control (MPC) processor-in-the-loop

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A Three-Phase Synchronization Algorithm Based on a Modified DSOGI with Adjustable Re-Filtering

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ENERGIES 2023年第18期16卷 6500页

作者： Herrejon-Pintor, Gilberto A. Melgoza-Vazquez, Enrique Monroy-Morales, Jose Luis Tecnol Nacl Mexico Inst Tecnol Estudios Super Zamora Zamora De Hidalgo 59720 Mexico Tecnol Nacl Mexico Inst Tecnol Morelia Morelia 58120 Mexico

The precise calculation of phase angle, voltage magnitude and frequency is crucial for the effective control of power electronic inverters connected to an electrical power system. The phase-locked loop (PLL) is a commonly employed method for measuring these variables. Nevertheless, the reliability of this measurement is influenced by transient events in the electrical power system and varies depending on the nature of the event and the specific design of the PLL. Notably, PLLs utilizing the double second-order generalized integrator are widely adopted for power converter synchronization purposes. This article proposes a three-phase PLL, which is based on the single-phase version previously reported by the authors. The proposed PLL, based on an alternative integrator approach, allows a fine adjustment of the tolerance to disturbances in the input voltage thanks to a second feedback gain in its pre-filter. It is reasonable to anticipate that the three-phase PLL will exhibit similar strengths to the single-phase version;however, in the three-phase case, an additional integrator is involved in pre-filtering the quadrature signals, and the double integrator is not employed as the quadrature signal generator. The performance of the proposed PLL is assessed by comparing it to other PLLs based on the second-order integrator, using a processor-in-the-loop approach.

关键词： synchronization phase-locked loop renewable energy resources processor-in-the-loop

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