This paper presents the design of the altitude controller of Unmanned Aerial Vehicle (UAV) based on the data acquired from the software in the loop (SITL). More specifically, the developed methodology permits to descr...
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ISBN:
(纸本)9781728107011
This paper presents the design of the altitude controller of Unmanned Aerial Vehicle (UAV) based on the data acquired from the software in the loop (SITL). More specifically, the developed methodology permits to describe a test procedure where an algorithm or even a control strategy can be designed and validated based on the physical model of the system. In this way, the PID controller with a technique known as Successive loop Closure is designed. The paper also shows how to establish a remote communication with the quadcopter using all the versatility of the software in the loop (SITL) in combination with a Ground Control Station and Dronekit developing tool. Finally, the flight simulation tests show that the designed controller was able to reach a stable flight with its performance evaluated through non-intrusive performance indexes and analysis of the system response in the time domain.
In order to investigate the grid integration of wind turbines (WT) of various scales and designs, a wind turbine emulator (WTE) is being built in Flensburg within the state-funded project GrinSH. The special feature o...
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In order to investigate the grid integration of wind turbines (WT) of various scales and designs, a wind turbine emulator (WTE) is being built in Flensburg within the state-funded project GrinSH. The special feature of this WTE is the use of a large gas engine instead of an electric motor to emulate the behavior of a WT. In order to develop the controls of this innovative WTE and to design the upcoming test runs under safe conditions, a software in the loop model (SILM) was applied. This SILM contained a mathematical model of the wind turbine, mathematical models of the gas engine with an integrated controller, and a model of the generator and frequency converter unit, as well as a preventive modulator of the reference signal (PMRS). The PMRS module converts the reference signal of the emulated WT in such a way that the dynamics of the engine components can be calculated and balanced in advance to enable the required behavior of the entire SILM despite the dynamics of the gas engine. It was found that the PMRS module, developed and tested in this work, increased the ability of the WTE, based on a gas engine, to reproduce the dynamics of a WT.
With software in the loop, a graphical user interface, and a free programmable window lifter model this project provides techniques to improve teaching the software development process. Students can write their own pr...
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ISBN:
(纸本)9781509054671
With software in the loop, a graphical user interface, and a free programmable window lifter model this project provides techniques to improve teaching the software development process. Students can write their own program everywhere and any time with the aid of a virtual model and a graphical user interface. During the lecture "Design of software-Intensive Systems" at Fulda University of Applied Sciences they can run the same software on the physical model without any modifications.
With software in the loop, a graphical user interface, and a free programmable window lifter model this project provides techniques to improve teaching the software development process. Students can write their own pr...
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ISBN:
(纸本)9781509054688
With software in the loop, a graphical user interface, and a free programmable window lifter model this project provides techniques to improve teaching the software development process. Students can write their own program everywhere and any time with the aid of a virtual model and a graphical user interface. During the lecture "Design of software-Intensive Systems" at Fulda University of Applied Sciences they can run the same software on the physical model without any modifications.
The model predictive control (MPC) tries to find the best control output by optimizing among the predictions. In this context, determining the objective function of optimization is a critical process. This study discu...
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The model predictive control (MPC) tries to find the best control output by optimizing among the predictions. In this context, determining the objective function of optimization is a critical process. This study discusses the velocity control of the mini brushed direct current (BDC) motor used in the actuator with MPC. Four different functions have been defined to design the most appropriate cost function for MPC by considering the parameters that may be effective in the motor dynamics such as velocity, current, power, and switching states. software in the loop (SIL), one of the modeling-based testing methods, was used within the scope of testing the algorithms. After the SIL tests, it has been observed that the mini BDC motor can be successfully controlled with simple adjustments to the cost function of the MPC. As a result of the analysis obtained the best results with the objective function consisting of velocity error, estimated current, and the difference between the two estimated velocity values. With this controller, the BDC motor can be controlled without overshoot and with a steady-state error of less than 2% under load.
Dry dual clutches are widely used in conventional and innovative automotive vehicles. The engagement control of dry dual clutches is a not easy task because of the synergic interaction of the two clutches in terms of ...
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ISBN:
(纸本)9781479902750
Dry dual clutches are widely used in conventional and innovative automotive vehicles. The engagement control of dry dual clutches is a not easy task because of the synergic interaction of the two clutches in terms of their corresponding torque transmissibility characteristics. In this scenario the socalled software in the loop approach can represent a foundamental preliminary and driving step for hardware in the loop and on vehicle testing of new engagement strategies. This paper proposes a software in the loop model for dry dual clutch transmission control systems, developed by Fiat for new C635 transmission family and its future evolutions. The vehicle model includes the representation of the shift process for a six-speed dry-type dual clutch transmission. The transmission model is used to design a decoupling engagement controller of the dual clutch.
This article presents the development stages of the real-time implementation for a Permanent Magnet Synchronous Motor (PMSM) control system. The control structures specific to the Field Oriented Control (FOC) strategy...
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ISBN:
(纸本)9781665469258
This article presents the development stages of the real-time implementation for a Permanent Magnet Synchronous Motor (PMSM) control system. The control structures specific to the Field Oriented Control (FOC) strategy, the hardware elements, and the software programming environments used are presented. These stages can be presented in a chained manner in the form of stages such as: Model-In-the-loop (MIL), software-In-the-loop (SIL), Processor-In-the-loop (PIL), and Hardware-In-the-loop (HIL). Moreover, in addition to the presentation of these stages, the article also presents the identification and tuning stages inherent to any control system. The results obtained in each of these stages are presented, the final goal being the study of the evolution in real-time of the performance of the PMSM control system.
Multilevel inverter has been familiarized as a popular topology for DC-AC power conversion. This paper illustrates the real-time performance evolution of seven level z-source diode clamp multilevel inverter. The field...
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ISBN:
(纸本)9781728176123
Multilevel inverter has been familiarized as a popular topology for DC-AC power conversion. This paper illustrates the real-time performance evolution of seven level z-source diode clamp multilevel inverter. The field programmable gate array (FPGA) integrated real time simulators consists of multiprocessor and computer clusters are the main hardware platforms for real-time simulations. The real time (RT) lab software enables the parallel simulation of an electrical circuit on clusters of personal computer running at sampling time 10 mu s. The integration of multilevel inverter and z-source energy conversion are used for DC-AC converter for high power applications with low total harmonics distortion. An impedance network has two passive elements such as two inductors and two capacitors connected between DC power source and multilevel inverter circuit. It provides a unique feature such as the boost the inverter output voltage and reduces the harmonic content in the output voltage as compared to the classic multilevel inverter. The real time results are verified the proposed system with a specified time step 10 mu s andfrequency is 10 KHz.
District heating networks transport thermal energy from one or more sources to a plurality of con-sumers. Lowering the operating temperatures of district heating networks is a key research topic to reduce energy losse...
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District heating networks transport thermal energy from one or more sources to a plurality of con-sumers. Lowering the operating temperatures of district heating networks is a key research topic to reduce energy losses and unlock the potential of low-temperature heat sources, such as waste heat. With an increasing share of uncontrolled heat sources in district heating networks, control strategies to co-ordinate energy supply and network operation become more important. This paper focuses on the modeling, control, and optimization of a low-temperature district heating network, presenting a case study with a high share of waste heat from high-performance computers. The network consists of heat pumps with temperature-dependent characteristics. In this paper, quadratic correlations are used to model temperature characteristics. Thus, a mixed-integer quadratically-constrained program is pre-sented that optimizes the operation of heat pumps in combination with thermal energy storages and the operating temperatures of a pipe network. The network operation is optimized for three sample days. The presented optimization model uses the flexibility of the thermal energy storages and thermal inertia of the network by controlling its flow and return temperatures. The results show savings of electrical energy consumption of 1.55%e5.49%, depending on heat and cool demand. (c) 2021 Elsevier Ltd. All rights reserved.
This paper proposes a method of testing by simulation of automatic control solutions of manufacturing processes that are performed on a mechatronic laboratory line. The method is based on the use of Digital Twin techn...
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ISBN:
(纸本)9781728198095
This paper proposes a method of testing by simulation of automatic control solutions of manufacturing processes that are performed on a mechatronic laboratory line. The method is based on the use of Digital Twin technology and allows the evaluation by simulation of both the hardware infrastructure of the controllers (Hardware in the loop simulation performed as a system with discrete events) and the efficiency of control procedures (software in the loop simulation performed with a Reinforcement Learning algorithm).
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