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International Conference on Connected Vehicles and Expo (ICCVE)

作者： Indrasen Raghupatruni Thomas Goeppel Muhammed Atak Julien Bou Thomas Huber Robert Bosch GmbH Renningen Germany Robert Bosch GmbH Abstatt Germany Robert Bosch GmbH Ludwigsburg Germany

ISBN: (纸本)9781728101439

Automotive cyber-physical systems are constantly increasing in complexity, especially due to innovations like sophisticated advanced driver assistance features. The increase in system complexity, in turn, gives rise to complex distributed software which creates challenges for verification. Front-loading tests that are regularly performed in prototype vehicles or Hardware-in-the-loop (HiL) to simulation and software-in-the-loop (SiL) environments can be used to validate design decisions and to significantly reduce overall development costs. Novel Automated Driving features, and the Open Context problem, however, move the challenge from the state-to-the-art to a knowledge problem (know-what instead of know-how). The ISO/PAS 21448:2019 for Safety of the Intended Functionality (SOTIF) acknowledges this change but no guidance is provided to the industry to making verification processes ready for operating vehicles in an Open Context environment that may require functional changes during the useful life of a vehicle. Since verification with HiL or vehicles will be all but impractical, in this paper we provide insights into the design of credible SiL environments that address functional and non-functional verification and validation concerns of software related automotive system in a continuous life-cycle. With the help of a use-case we demonstrate the significance of the novel approach compared to traditional automotive industry methods.

关键词： software-in-the-loop Hybrid simulation Automotive CPS Credible simulation System and software testing Virtual ECU hybrid simulation vehicle automotive engineering operating vehicles Environments computer software Verification USEFUL LIFE Technological Innovations

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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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State-Estimation for Increased Accuracy in software- and Hardware-In-The-loop testing via the Internet 24

State-Estimation for Increased Accuracy in Software- and Har...

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24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Pieper, Tobias Obermaisser, Roman Univ Siegen Inst Embedded Syst Siegen Germany

ISBN: (纸本)9781728103037

Model-based design is an effective approach to develop complex embedded systems. Involving geographically distributed manufacturers can complicate this process due to hardware shipping and the protection of intellectual property. The usage of our framework which validates the communication between the components on a network-centric abstraction level solves these issues. It combines distributed co-simulation with software- and Hardware-In-The-loop (SIL/HIL) testing via wide area networks such as the Internet. The Internet as a best effort network cannot provide the required temporal guarantees for the real-time tests performed in HIL. As inputs may be delayed, it is only possible to validate systems with communication periods that are larger than the network delays. However, these large periods result in decreased accuracy of the system. To overcome this disadvantage, we introduce the usage of state-estimation in this paper. We use adjustable communication periods based on the network delays to exchange data between the components. In between, the framework forwards inputs to the devices which are estimated using the devices' previous outputs and a model of the remaining system under test. To evaluate the mechanism, we implement a distributed fan control application. This application exchanges data periodically between a fan model and a triplicated PID controller. We define different communication periods and compare the resulting fan speed with and without state-estimation. If state-estimation is enabled, the framework can provide the required inputs in time for all periods. Furthermore, it is possible to provide a sufficient accuracy. Without state-estimation, a stable control is impossible if the network delays are larger than the communication periods.

关键词： state-estimation distributed co-simulation hardware-in-the-loop software-in-the-loop real-time

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Model and software In-The-loop Testing of Engine's Speed and Load Control Functionality 33

Model and Software In-The-Loop Testing of Engine's Speed and...

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33rd International Symposium on Industrial Electronics (ISIE)

作者： Tahir, Anam Prinsen, Pontus Boling, Jari Univ Turku Fac Technol Automat Engn Turku Finland Wartsila Finland Oy Marine R&D Automat & Control Vaasa Finland

ISBN: (纸本)9798350394085;9798350394092

This paper focuses on the designing of the engine simulation models using the Wartsila 31 (W31) dual fuel (DF) first-order marine engine model, operating on torque and the performance output is the engine speed. X-in-the-loop simulations are proposed using the closed-loop system of proportional integral derivative control designs with respect to manual tuning and direct synthesis techniques to test the engine's speed and load control functionality. The model-in-the-loop simulation evaluates the performance of the engine model i.e. the model-based testing whereas the software-in-the-loop simulation verifies the engine model in a simulation environment using the W31DF UNIC control system. The simulation results show the effectiveness of the proposed testing methods with respect to stability and settling performance.

关键词： Wartsila 31 Engine simulation model Modelin-the-loop software-in-the-loop Speed and load control functionality Proportional integral derivative control

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Model in loop (MIL), software in loop (SIL) and Hardware in loop (HIL) Testing in MBD 4

Model in Loop (MIL), Software in Loop (SIL) and Hardware in ...

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4th IEEE Global Conference for Advancement in Technology, GCAT 2023

作者： Shylla, Dapynhunlang Jain, Ayushi Shah, Pritesh Sekhar, Ravi Maharashtra Pune412115 India

ISBN: (纸本)9798350305258

Model based design (MBD) is becoming an integral part of embedded systems development in many organisations. This paper presents the methodology and benefits of MBD through a theoretical case study of gantry crane system modeling and control for loading/unloading applications. Various aspects of MBD such as modeling using Industrial Physics toolbox of Matlab, Simulink modeling, code generation, model-in-the-loop (MIL) testing, time synchronization, real time simulations in Simulink, software-in-the-loop (SIL) testing and oscillation detection during hardware-in-the-loop (HIL) testing have been discussed with respect to the gantry crane application. This paper shows how MBD helps to detect design issues very early in the development process, which is very difficult to achieve in case of the traditional development methodologies. The importance of MIL, SIL and HIL tests are discussed in detail to establish the immense potential of MBD approach in new system development. © 2023 IEEE.

关键词： Hardware-in-the-loop Industrial Physics Model Based Design Model-in-the-loop PLC Simulink software-in-the-loop

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Development and validation of a dynamic operating envelopes-enabled demand response scheme in low-voltage distribution networks

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APPLIED ENERGY 2025年 382卷

作者： Lankeshwara, Gayan Sharma, Rahul Alam, M. R. Yan, Ruifeng Saha, Tapan K. Univ Queensland Sch Elect Engn & Comp Sci Brisbane Qld 4072 Australia

Dynamic operating envelopes (DOEs) provide a promising solution for preserving network integrity as distributed energy resources (DERs) increasingly penetrate low-voltage (LV) networks. Presently, DOE applications mainly focus on controlling active power exports from rooftop photovoltaic (PV) systems, often overlooking the role of demand response (DR). This paper proposes a two-stage, coordinated strategy for integrating residential DR into electricity markets within the DOE framework. In the first stage, the distribution network service provider (DNSP) employs a convex hull method to define DOEs at each customer point-of-connection (POC). In the second stage, the demand response aggregator (DRA) uses the DOEs provided by the DNSP to implement a hierarchical control system that tracks load set-point signals while ensuring compliance with network statutory limits. To evaluate the proposed control approach in a real-world scenario, software-in-the-loop (SIL) tests are conducted using a grid simulator that replicates an actual residential feeder with realistic household load and generation profiles. The simulation results demonstrate that the DRA can deliver precise DR while adhering to network statutory limits and maintaining user thermal comfort. Additionally, the method aligns with market dispatch intervals and safeguards end-user data privacy.

关键词： Demand response Dynamic operating envelopes software-in-the-loop Low-voltage networks Import/export limits Network statutory limits Air-conditioners

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Distributed Event-Triggered-Based Adaptive Formation Tracking Control for Multi-UAV Systems Under Fixed and Switched Topologies

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DRONES 2025年第4期9卷 259-259页

作者： Liang, Chengqing Liu, Lei Li, Lei Yan, Dongmei Hohai Univ Coll Artificial Intelligence & Automat Changzhou 213200 Peoples R China Hohai Univ Key Lab Maritime Intelligent Cyberspace Technol Minist Educ Nanjing 210098 Peoples R China Hohai Univ Sch Math Nanjing 210098 Peoples R China Minist Educ Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China Nanjing Univ Posts & Telecommun Sch Modern Posts Nanjing 210003 Peoples R China

This paper investigates the time-varying formation-tracking (TVFT) problem for multi-UAV systems (MUSs), where the followers need to achieve a predefined time-varying formation configuration while tracking the leader's state. In order to reduce the consumption of communication resources, an adaptive event-triggered mechanism (AETM) is designed. By combining the advantages of the adaptive technique and the event-triggered mechanism (ETM), UAVs can realize intermittent communication without relying on global information. Secondly, to improve the flexibility of formation-tracking trajectories, the TVFT consensus protocol with non-zero leader inputs is constructed. Meanwhile, the scope of the formation-tracking feasibility condition is extended. Then, the stability of the system is verified by Lyapunov stability theory, and sufficient conditions for MUSs to realize the desired TVFT configuration are obtained. In addition, the designed consensus protocol can be applied to both fixed topologies and switching topologies. Finally, the validity of the designed algorithm is confirmed by numerical examples and software-in-the-loop (SIL) simulation experiments.

关键词： formation tracking control adaptive event-triggered mechanism UAVs switching topology software-in-the-loop

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Challenges in Transitioning from Co-simulation to Practical Application: A Case Study on Economic Emission Dispatch in a Greenhouse Compartment 4th

Challenges in Transitioning from Co-simulation to Practical ...

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4th Energy Informatics Academy Conference

作者： Clausen, Christian Skafte Beck Lehnhoff, Sebastian Schwarz, Jan Soren Jorgensen, Bo Norregaard Ma, Zheng Grace Univ Southern Denmark Maersk McKinney Moeller Inst SDU Ctr Energy Informat Fac Engn Odense Denmark OFFIS Inst Informat Technol Oldenburg Germany

ISBN: (纸本)9783031747373;9783031747380

Co-simulation is a widely applied method used to analyze the behavior of complex, interdisciplinary, and integrated cyber-physical control systems. Despite its prevalence, the transition from co-simulated control systems into practical applications is not discussed as much in the literature. This leaves a gap in the literature because practitioners may not be aware of these challenges. This paper aims to uncover and discuss some of the challenges that arise in the transition from a co-simulated control system to a practical application. A case study on economic emission dispatch in a Danish industrial greenhouse compartment serves as the fundament in studying these challenges. Economic emission dispatch is a method that can be used in a closed-loop arrangement to decrease costs and emissions of multiple energy production units. The case study is first implemented as a co-simulation which is subject to a subsequent practical implementation. The co-simulation implementation is governed by the open-source framework mosaik that is used extensively in smart grid applications. In contrast, the practical implementation is not governed by mosaik due to architectural design discrepancies. A key feature of the study is the use of software-in-the-loop, which means that the controller being tested is the actual software intended for deployment. The highlighted challenges include that the core abstractions (master algorithm, scenario-script, and protocol) of the co-simulation framework cannot be transferred to an operational context due to design discrepancies. Despite these challenges, the co-simulation can still serve as a baseline for comparing functional performance metrics during the transition.

关键词： Economic dispatch co-simulation software-in-the-loop SIL cyber-physical system transition challenges greenhouse simulation-to-reality gap

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Development and performance study of a multi-degree-of-freedom loading device for real-time hybrid model testing of floating offshore wind turbines

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MARINE STRUCTURES 2025年 99卷

作者： Fu, Jie Shi, Wei Han, Xu Karimirad, Madjid Wang, Tao Li, Xin Dalian Univ Technol DeepWater Engn Res Ctr Dalian 116024 Peoples R China Dalian Univ Technol Key Lab Coastal & Offshore Engn Dalian 116024 Peoples R China Dalian Univ Technol Ningbo Inst Ningbo 315000 Peoples R China Queens Univ Belfast Sch Nat & Built Environm Civil Engn Belfast BT7 1NN North Ireland China Earthquake Adm Inst Engn Mech Key Lab Earthquake Engn & Engn Vibrat Haerbin 150086 Peoples R China

To address the challenges encountered in reproducing turbulent wind loads and scaling conflicts between the turbine and platform in traditional model tests for floating offshore wind turbines. This paper proposes a new real-time hybrid model test strategy with a multi-degree-of-freedom loading device. The design theories of the multi-degree-of-freedom loading device are thoroughly presented. Following this, a software-in-the-loop simulation system was constructed in MATLAB to develop simulation validation on the feasibility and load reproduction capability of the multi-degree-of-freedom loading device. This study addresses the challenges of scale conflicts and turbulent wind load reproduction in traditional model tests, providing a reference for the further development of real-time hybrid model testing techniques for floating offshore wind turbine. The results indicate that the thrust force error in the Fx direction is within 2 %, while the torque and bending moment errors in the Mx, My, and Mz directions are within 8 %. Finally, a hardware-in-the-loop testing system was established to conduct performance tests on the static and dynamic load reproduction capabilities of the multi-degree-of-freedom loading device. The dynamic load variation rate of the multi-degree-of-freedom loading device is 45 N/s, ensuring its capability for dynamic force changes at the scaled-down level. The reproducibility of aerodynamic loads on floating offshore wind turbine under steady wind and turbulent wind conditions by the multi-degree-of-freedom loading device is investigated. The maximum error in reproducing steady wind loads using the multi-degree-of-freedom loading device was found to be 3.7 %. In comparison, the maximum error in reproducing the average values of thrust force and torques in different directions under turbulent wind loads was 9.05 %. Within the 0-5 Hz frequency range, the aerodynamic loads in various directions achieved an energy recurrence rate of at least 99.2 %. I

关键词： Floating offshore wind turbines Real-time hybrid model test Multi degree of freedom loading device software-in-the-loop Hardware-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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