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Decentralized Geolocation and Bias Estimation for Uninhabited Aerial Vehicles with Articulating Cameras

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2011年第2期34卷 564-573页

作者： Whitacre, William Campbell, Mark E. Cornell Univ Ithaca NY 14853 USA

The cooperative geolocation of a point of interest using multiple uninhabited aerial vehicles with articulating camera sensors is addressed, where there are non-zero-mean errors (biases) in the estimate of the uninhabited aerial vehicle state. The proposed approach is to use the onboard navigation solution in the estimator and, further, to consider biases across all uninhabited aerial vehicles and to jointly estimate both the biases and the unknown point-of-interest location. Furthermore, a decentralized solution is presented that uses marginalization of the biases, thus allowing the uninhabited aerial vehicles to share only information about the point of interest and model only their local biases. This decentralized approach saves significant computation and scales well with the number of uninhabited aerial vehicles. Real flight-test data and hardware-in-the-loop simulations are used to demonstrate the improvement in geolocation with bias estimation, as well as the effectiveness of the new decentralized point of interest and bias estimation algorithm, for both stationary and moving points of interest.

关键词： Geolocation Uninhabited Aerial Vehicle Experimental Flight Test Sensor Fusion hardware in the loop simulation Flight Data Observability Gramian GPS International Traffic in Arms Regulations Data Fusion

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The Test Verification Design Method Based on Rapid Prototyping Technology of Aero-engine

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Procedia Engineering 2015年 99卷 981-990页

作者： Xiao-Jie Qiu Wen-Hua Zheng Yu-Ting Tang Feng Lu AVIC aviation motor control system institute Wuxi 210043 china The Nanjing University of Aeronautics & Astronautics Nanjing 210016 china

For the rapid test verification of aero-engine control and gas path fault diagnosis algorithm, the rapid prototyping hardware in the loop test verification method of the aircraft engine function algorithm module was designed, which based on the virtual instrument language and rapid *** and its extension boards were utilized to build the rapid prototyping test verification platform for aircraft engine function algorithm, the control algorithm and the gas path fault diagnosis algorithm was deployed to the hardware in the loop whichbased on rapid prototyping, for the simulation of the algorithm on the ***, as an example of a turbofan engine PID control algorithm and gas path fault diagnosis algorithm, hardware in loop simulation test verification was carried through the rapid prototyping of platform. The results show that the rapid prototyping platform and its design method can realize the algorithm verification fast and flexible.

关键词： aero-engine gas path fault diagnosis algorithm PID control algorithm hardware in the loop simulation rapid prototyping

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simulation gets into the loop

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IEE Review 1997年第3期43卷 109-112页

作者： D. Maclay Cambridge Control Ltd Cambridge

hardware in the loop simulation (HILS) as a means of testing control system electronics is not new-the aerospace industry has been using this technique ever since software first became a safety-critical aspect of flight control systems. As pressure on development time and costs increases, the author describes how the increasingly popular solution is the use of computer simulations to mimic hardware components.

关键词： Control system design and analysis development time safety-critical software development costs Control applications Software engineering techniques program testing control system electronics testing hardware components mimicking hardware in the loop simulation software fault tolerance Health and safety aspects Control system analysis and synthesis methods Diagnostic, testing, debugging and evaluating systems control system analysis computing

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An Improved Voltage Controller for Distribution Static Compensator

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INTERNATIONAL JOURNAL OF RENEWABLE ENERGY RESEARCH 2019年第1期9卷 393-400页

作者： Saralaya, Sanath Sharma, K. Manjunatha Natl Inst Technol Karnataka Dept Elect & Elect Surathkal India

Distribution System consist of different types of loads like linear and nonlinear load. Due to different types of loads, voltage unbalance and other power quality related issues will occur. To overcome this problem, a voltage source inverter based device called distribution static compensator can be used. In this work, an improved voltage controller for distributed static compensator, based on power balancing theory is presented. The improved controller uses only voltage sensors and this controller is developed by considering unbalanced load conditions. Proportional Integral controller is used for maintaining terminal voltage and DC link voltage. The controller is verified for different voltage disturbances such as sag and swell. MATLAB/SIMULINK package is used to verify the controller using simulation. The controller is also verified using hardware in the loop simulation using DSPACE and results are presented for different voltage disturbances.

关键词： hardware in the loop simulation PI Controller Voltage sag Voltage swell Voltage source Converter

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Research on a PMSM control strategy for electric vehicles

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ADVANCES IN MECHANICAL ENGINEERING 2021年第12期13卷

作者： Liao, Guangliang Zhang, Wei Cai, Chuan China Automot Engn Res Inst Co Ltd Chongqing Peoples R China

This paper proposes a novel state estimation based permanent magnet synchronous motor (PMSM) control method for electric vehicle (EV) driving. Firstly, a state feedback decoupling control with disturbance feed-forward (SFDCDF) is described. As motor angular speed and rotary angle are key information for the proposed control algorithm and park's transformation, a novel observer based angular speed estimator (OBASE) is proposed for angular speed estimation. Moreover, an extended Kalman filter (EKF) based rotary angle estimator (EBRAE) is used for rotary angle estimation with information of the estimated angular speed. The convergence of angular speed estimation is proven through Lyapunov stability theory. simulation results also indicate that the proposed algorithms can control PMSM torque, current, and angular speed to accurately follow reference values without severe fluctuation. In addition, in order to provide SFDCDF with load torque information, the OBASE is slightly modified to work as a vehicle load estimator (VLE) so PMSM responds more rapidly and speed fluctuates more slightly when the load suddenly changes. Then a series of hardware in the loop (HIL) simulations are carried out. Results indicate that the proposed control strategy can precisely estimate PMSM's angular speed and rotor angle. Also, it can improve the driving performance of PMSM used on EVs.

关键词： permanent magnet synchronous motor state feedback decoupling control with disturbance feed-forward observer based angular speed estimation extended Kalman filter based rotor angle estimation vehicle load estimation hardware in the loop simulation

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A hardware-in-the-loop simulator to test control systems of hydroelectric plants 09

A hardware-in-the-loop simulator to test control systems of ...

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Proceedings of the 2009 Spring simulation Multiconference

作者： Iván F. Galindo-García Saúl Rodríguez-Lozano Electrical Research Institute of Mexico Cuernavaca Morelos CP México

A hardware-in-the loop real time simulator of a hydroelectric power plant is developed and implemented. The main objective of the simulator is to test the performance of the actual speed and load control systems in these plants. In hardware-in-the-loop simulations real equipment interacts with the simulator through an input/output device. The main characteristics of the process models, hardware and software, and the tools employed for development are described. The functionality of the simulator is demonstrated with an application example in which the real control is emulated with a PC connected to the simulator. simulation accuracy is established by comparing computed results to field data.

关键词： hardware in the loop simulation hydroelectric power plants control systems

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Development of a high-bandwidth active load for an aircraft electrical systems evaluation platform

Development of a high-bandwidth active load for an aircraft ...

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7th IET International Conference on Power Electronics, Machines and Drives (PEMD 2014)

作者： F. J. Chivite-Zabalza A.J. Forsyth J. Calvignac S. Long Ingeteam Power Technology S.A. 48170 Zamudio Spain The University of Manchester School of Electrical and Electronic Engineering Sackville Street M13 9PL UK Rolls Royce Plc London London GB

ISBN: (纸本)9781632666390

This paper describes the development of an active load for a 100 kVA, ±270 V dc electrical systems evaluation platform for uninhabited autonomous vehicles, typically airborne. The 30 kW, 3 kHz bandwidth active loads emulate in real time the dynamic behaviour at the dc-bus side of typical aerospace equipment, providing a flexible and cost-effective method of evaluating complex system interactions. This paper, which focuses on the design of the high-bandwidth dc-dc converter, covers the thermal design of the power semiconductors for 20 kHz hard-switching operation, the input and output filter design and the converter modelling and control design. All this is supported by experimental results that validate the design.

关键词： Aircraft power systems DC-DC power convertors Aircraft electrical systems Electrical systems evaluation hardware in the loop simulation DC-DC power convertors active load hardware-in-the-loop simulation power semiconductor aircraft power systems Electrical systems filter design high-bandwidth Thermal design

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Research on the simulation Method of an Underwater Target Dimension Characteristic Based on Circular Arc Array

Research on the Simulation Method of an Underwater Target Di...

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第七届国际信号处理会议

作者： YANG Yun-chuan1, , CUI Huai-lin1, LI Zhi-shun1 2 (1Department of Electronic and Communication Engineering of Marine College, Northwestern Polytechnic University, Xi’an, Shaanxi China 710072 2Xi’an Precision Machinery Institute, Xi’an, Shaanxi China 710075)

The highlight structure model of underwater target echo and the model of underwater target dimension recognition based on cross-spectrum method of splitting beam are given. The generating methods o

关键词： Underwater volume target Target dimension Target simulation hardware in the loop simulation

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RESEARCH OF SEMI-PHYSICAL simulation PLATFORM FOR HYDRAULIC SYSTEM BASED ON EASY5

RESEARCH OF SEMI-PHYSICAL SIMULATION PLATFORM FOR HYDRAULIC ...

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The 2011 International Conference on Mechanical Engineering and Technology

作者： Jiang Xiaoxia Lin Fuquan Jimei University Xiamen Branch of China Classification Society

Introduction of the design method to achieve semi-physical simulation system on the basis of the hydraulic test platform and EASY5 hydraulic system simulation model. Using EASY5 and MATLAB / SIMULIINK co-simulation model, Real-time simulation control was achieved by calling the Windows API Multimedia Timers in MATLAB/SIMULINK to overcome the real-time weaknesses of EASY5;TCP / IP Network Communication was used for data exchange between Simulator and Control machine;man-machine interface of simulator was designed with Visual Basic, to achieve experimental initialization the hardware in the loop simulation system and start the simulation. It can be seen from the test results that t he semi-physical simulation system work well.

关键词： Wheel loader Hydraulic system hardware in the loop simulation Co-simulation

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Real-Time Data Driven Visual simulation of Process Manufacturing: A Case Study

Real-Time Data Driven Visual Simulation of Process Manufactu...

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2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Shaowen Lu Heng Yue State Key Laboratory of Integrated Automation of Process Industry Northeastern University Shenyang 110819 China

3D virtual simulation has been widely used in the design of manufacturing plants. This paper focuses on the application of 3D virtual simulation in process industry. It discusses the impacts of the characteristics of the process manufacturing and the simulation users requirements on the integration of 3D visual simulation and process simulation. An actual case of grinding circuit simulation is introduced. The hardware in the loop simulation structure and the real-time data integration techniques are discussed in detail. Finally, a solution of real-time integration is provided.

关键词： grinding process 3D visual simulation hardware in the loop simulation

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