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Research on suspension system with embedded-permanent-magnet magnetorheological damper based on V-model

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2016年第10期230卷 1602-1614页

作者： Xiao, Ping Wang, Qidong Niu, Limin Gao, Hong Hefei Univ Technol Sch Mech & Automot Engn 193 Tunxi Rd Hefei Peoples R China Anhui Polytech Univ Sch Mech & Automot Engn Wuhu Peoples R China Anhui Univ Sci & Technol Sch Mech Engn Huainan Peoples R China Anhui Univ Technol Sch Mech Engn Maanshan Peoples R China

In order to enhance performance of automotive suspension with embedded-permanent-magnet magnetorheological (MR) damper, V-model developing flow of electronic control unit was adopted to study control system of the suspension. First of all, rapid control prototyping (RCP) system of suspension with embedded-permanent-magnet MR damper was built up based on real-time simulation platform D2P;control algorithm of fruit fly optimization algorithm- proportional-integral-derivative was designed and experiments of RCP simulation were carried out. Moreover, model of suspension with embedded-permanent-magnet MR damper was built with the instruction of magnetic field composition theory. On these bases, hardware in the loop simulation (HILS) platform was built up and HILS experiments were carried out as well. Finally, bench tests were carried out, whose results, together with simulation results, indicated that the controlling system of suspension with embedded-permanent-magnets MR damper in the given research could enhance automobiles' ride performance and the designed control strategy and algorithm were good.

关键词： Automobile suspension magnetorheological damper with embedded permanent magnet rapid control prototyping hardware in the loop simulation

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Model reference adaptive autopilot with anti-windup compensator for an autonomous underwater vehicle: Design and hardware in the loop implementation results

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APPLIED OCEAN RESEARCH 2017年 62卷 27-36页

作者： Sarhadi, Pouria Noei, Abolfazl Ranjbar Khosravi, Alireza Babol Noshirvani Univ Technol Fac Elect & Comp Engn Babol Sar Iran

In this paper, a novel model reference adaptive controller with anti-windup compensator (MRAC_AW) is proposed for an autonomous underwater vehicle (AUV). Input saturations and parametric uncertainties are among the practical problems in the control of autonomous vehicles. Hence, utilizing a proper adaptive controller with the ability to handle actuator saturations is of a particular value. The proposed technique of this paper incorporates the well-posed model reference adaptive control with integral state feedback and a modern anti-windup scheme to present an appropriate performance in practical conditions of an AUV. Stability of the proposed method is analyzed by Lyapunov theory. Then, the proposed controller is implemented in the hardware in the loop simulation of AUV. For this purpose, the introduced method is implemented in an onboard computer to be checked in a real-time dynamic simulation environment. Obtained results in the presence of real hardware of system, actuators, computational delays and real-time execution verify the effectiveness of proposed scheme. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Model reference adaptive control Six degrees of freedom simulation Input saturation Anti-windup compensator hardware in the loop simulation AUV

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Software-enabled receding horizon control for autonomous unmanned aerial vehicle guidance

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2006年第3期29卷 680-694页

作者： Keviczky, Tamas Balas, Gary J. Univ Minnesota Control Sci & Dynam Syst Ctr Minneapolis MN 55455 USA Univ Minnesota Dept Aerosp Engn & Mech Minneapolis MN 55455 USA

This paper describes autonomous unmanned aerial vehicle (UAV) guidance technologies developed and demonstrated in a flight test sponsored by the DARPA Software Enabled Control program. The flight experiment took place in June 2004 using a Boeing UAV testbed and demonstrated important autonomy capabilities enabled by a receding horizon guidance controller and fault detection filter. The receding horizon controller (RHC) design process is presented in detail as well as demonstration scenarios which were designed to exercise and evaluate the primary functionalities;of the control system. simulation results of the key capabilities are shown and compared with recorded flight data for evaluation purposes. hardware-in-the-loop simulations and other high-fidelity test run results illustrate secondary capabilities such as controller reconfiguration due to actuator fault and maneuvering limit enforcement using output constraints in the receding horizon approach.

关键词： Experimental Flight Test Fault Detection Filter Aerospace Company Defense Advanced Research Projects Agencies Aileron Actuators hardware in the loop simulation Avionics Software Control Systems Predictive Control Method Autopilot

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Cooperative Estimation Using Mobile Sensor Nodes in the Presence of Communication Loss

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2013年第3期10卷 114-130页

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

Cooperative estimation using multiple mobile sensor nodes communicating over a lossy network is considered. A new method, termed predicted information, is developed from a separable formulation of the extended information filter. Two variations of the predicted information method are presented, which trade between accuracy and computational complexity. The first variation estimates the information matrix updates directly from estimates of the cooperating sensor node states. The second variation uses a piecewise constant approximation to predict the information matrix updates. The predicted information method is shown to give the exact solution for linear systems when the measurement dynamics are constant or known by all sensor nodes. The predicted information method is evaluated with a cooperative geolocation problem with two uninhabited aerial vehicles using gimballing camera sensors. Flight-test data and high-fidelity hardware-in-the-loop simulations are used to compare the predicted information method with three benchmark methods from the literature for tracking both stationary and maneuvering targets and for single extended losses and random dropouts.

关键词： Sensor Fusion Underwater Communication Geolocation Experimental Flight Test hardware in the loop simulation Uninhabited Aerial Vehicle Covariance Intersection Flight Data Extended Kalman Filter Nonlinear Systems

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KASSANDRA: A framework for distributed simulation of heterogeneous cooperating objects

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JOURNAL OF SYSTEMS ARCHITECTURE 2017年 73卷 28-41页

作者： Figura, Richard Shih, Chia-Yen Ceriotti, Matteo Fu, Songwei Brockmann, Falk Nebot, Hector Alarcon, Francisco Kropp, Andrea Kondak, Konstantin Schwarzbach, Marc Jimenez, Antidio Mulero-Pazmany, Margarita Dini, Gianluca Capitan, Jesus Marron, Pedro Jose Univ Duisburg Essen Fac Business Adm & Econ Dept Comp Sci & Business Informat Syst ICB Networked Embedded Syst Grp Schutzenbahn 70 D-45117 Essen Germany ETRA Res & Dev Tres Forques 147 Valencia 46014 Spain Ctr Adv Aerosp Technol CATEC C Wilbur & Orville Wright 17-19-21 Seville 41309 Spain Leonardo Finmeccan Spa Piazza Monte Grappa 4 I-00195 Rome Italy German Aerosp Ctr DLR Inst Robot & Mechatron RMC D-82234 Oberpfaffenhofen Wessling Germany CSIC Estn Biol Donana C Amer Vespucio S-N Seville 41092 Spain Univ Tcn Particular Loja Dept Nat Sci San Cayetano Alto Loja Ecuador Univ Pisa Dept Ingn Informaz Via Girolamo Caruso 16 I-56122 Pisa Italy Univ Seville Dept Ingn Sistemas & Automat Escuela Super Ingn Camino Descubrimientos S-N Seville 41092 Spain

To address the heterogeneity and scalability issues of simulating Cooperating Objects (COs) systems, we propose KASSANDRA, a conceptual framework for enabling distributed COs simulation by integrating existing simulation tools. Moreover, KASSANDRA exploits the communication middleware used by real-world COs as underlying communication mechanism for integrating KASSANDRA-enabled simulation tools. In this way, real-world COs can be included with simulated objects in a seamless way to perform more accurate system performance evaluation. Moreover, such a hardware-in-the-loop approach is not limited to pre deployment performance analysis, and can offer possibilities to analyse performance at different phases of CO applications. The concept of KASSANDRA has been carried out in the EU PLANET project. In this paper, we introduce the KASSANDRA framework components and show their interactions at different phases for node deployments in PLANET use cases. The result demonstrates the applicability of KASSANDRA to facilitate the development of CO applications. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Heterogeneous simulation Distributed simulation hardware in the loop simulation Live debugging of distributed systems Cooperating objects

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Event-Triggered Antidisturbance Control Design for Aeroengine Systems via Switched Models

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AIAA JOURNAL 2022年第9期60卷 5448-5461页

作者： Zhao, Ying Gao, Yu-Xuan Pan, Zhuo-Rui Sun, Xi-Ming Dalian Maritime Univ Coll Marine Elect Engn Dalian 116026 Peoples R China Dalian Univ Technol Key Lab Intelligent Control & Optimizat Ind Equipm Minist Educ Dalian 116024 Peoples R China

In this paper, an event-triggered antidisturbance (ETAD) control scheme is presented for a category of aeroengine control systems (AECSs) involved in multiple disturbances. First, an AECS in this category is described by a switched model at a series of steady-state points. Then, a dynamic event-triggered mechanism is introduced by constructing the ET condition based on the control input directly, saving the signal transmission resource from the controller to the AECS. Next, a switching law with sampling is developed, economizing the signal transmission resource from the switching law to the AECS. Furthermore, based on the ET mechanism and switching law, an antidisturbance controller is designed to compensate for or suppress the influence of the multiple disturbances on the AECS. Also, under the ETAD control approach, relative theoretical conditions are established to save the signal transmission resource and to suppress or compensate multiple disturbances. Finally, using a hardware-in-loop platform with a switched aeroengine model inserted, a simulation is implemented to validate how the established ETAD control strategy is effectively applied to the AECS.

关键词： Aeroengine Control Systems Turbofan Engines Discrete Control Pulse Width Modulation Mathematical Models Fuel Consumption hardware in the loop simulation Digital Signal Processing Mathematical Analysis

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Model-based testing of embedded systems in hardware in the loop environment

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IET SOFTWARE 2012年第4期6卷 364-376页

作者： Keranen, J. S. Raty, T. D. VTT Tech Res Ctr Finland Oulu 90571 Finland

The evolution of software testing technologies has significantly reduced software testing execution times, but the test design and generation are still often implemented with slow manual-oriented methods. Model-based testing (MBT) offers automation to test design and generation, and different MBT solutions are familiar from research, but more effort needs to be done to adopt MBT for industrial use. hardware in the loop (HIL) is a simulation and testing technique used in the development and testing of embedded systems. HIL is a challenging application field for MBT due to complex and non-deterministic nature of some embedded systems. To tackle this problem, the authors present a novel prototype platform in which online and offline MBT is applied to HIL environment. MBT in general has been introduced for HIL in scientific literature before, but the application of online MBT in HIL is a novel approach. The whole novel MBT in HIL prototype platform along with the used MBT tool, platform architecture and MBT process are presented accompanied by experimental results and analysis of two case studies with an example embedded system under test.

关键词： platform architecture hardware in the loop testing technique MBT tool online MBT Diagnostic, testing, debugging and evaluating systems embedded systems software testing technologies model-based testing Software engineering techniques digital simulation MBT process software architecture HIL prototype platform hardware in the loop simulation automatic test software program testing HIL environment offline MBT software testing execution time

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Study of UPFC for Electric Arc Furnace Power Grid Interaction

Study of UPFC for Electric Arc Furnace Power Grid Interactio...

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53rd Annual Meeting of the IEEE-Industry-Applications-Society (IAS)

作者： Cano-Plata, E. A. Arango-Lemoine, C. Ustariz-Farfan, A. J. Univ Nacl Colombia Cra 27 64-60 Manizales Colombia

ISBN: (纸本)9781538645369

In this document, the effects of UFPCs on the electric arc furnace feed system at a steel production company were investigated. This new operative strategy was determined in function of the requirements necessary for a stable arch and maximum productivity. On the basis of these new operational conditions, the adequacy of the existing flicker compensation system was examined, in terms of load balancing, power factor correction, and flickering. All of the investigations detailed in this study are supported by hardware in real time, and loop within the simulation. Further, a summarized description of a power quality work station is presented herein.

关键词： UFPC electric arc furnaces real time hardware in the loop simulation power quality

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Research on Data Communication Method in Periscope Semi-physical Training simulation System

Research on Data Communication Method in Periscope Semi-phys...

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5th International Conference on Machine Vision (ICMV) - Algorithms, Pattern Recognition and Basic Technologies

作者： Xiao Jianbo Hu Dabin Naval Univ Engn Coll Naval Architecture & Power Wuhan 430033 Peoples R China

ISBN: (纸本)9780819495884

Data communication plays a very important role in the hardware in the loop simulation system. The system architecture of periscope semi-physical simulation system is proposed at first. Then the data communication method based on FINS between PLC and PC is introduced, the user's interaction of scene is achieved by PLC. The communication based on TCP between 2D chart console and scene simulation system is also introduced. The 6-DOF motion model and the scene simulation system is connected by TCP, and a DR method is introduced in solving the data amount problem. The test shows that the simulation system has no error package and no missing in a simulation circle. And can meet the requirements of training, also shows good performance in reliability and real-time.

关键词： hardware in the loop simulation PLC FINS Communication

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Development of a Simulator for Proximity Operations Using Multiple Space Vehicles

Development of a Simulator for Proximity Operations Using Mu...

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AIAA SciTech Forum

作者： Diaz, Amber New Mexico State Univ Dept Aerosp & Mech Engn Las Cruces NM 88003 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Today Earth's orbit is becoming more crowded with satellites and space debris. However, two commercial satellites were successfully docked by Northrup Grumman in 2020. With successful satellite docking, it is possible to remove debris within Earth's orbit and increase the lifetime of functioning satellites by sending satellites that are no longer functional beyond Earth's orbit. The goal of this project is to create a software platform to test the control algorithms in the NanoSat Laboratory and develop means for ground testing. By modeling space vehicles and space environment to simulate proximity operations using MATLAB. Next, small spacecraft simulator parts will be designed for ground testing, using 3D printing technology and hardware-in-the-loop simulations. This project can potentially be extended to other applications on multiple Unmanned Aerial Vehicles such as assembling parts at a high altitude, as well as creating a starting point for a spinoff company to produce software simulation tools for broad space engineering and industrial applications.

关键词： In Space Vehicles Satellites Earth Unmanned Aerial Vehicle hardware in the loop simulation Industrial Applications Control Algorithm Space Environment Space Debris 3D Printing

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