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Improvement of EME accuracy based on an equivalent voltage acquisition method and corresponding voltage compensation strategy

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IET POWER ELECTRONICS 2024年第16期17卷 3109-3119页

作者： Wang, Mingyu Yang, Beining Qin, Yaru Dong, Guanglin Nanjing Univ Sci & Technol Sch New Energy Nanjing Peoples R China Harbin Inst Technol Automot Engn Coll Weihai Peoples R China

It is a known cost-effective method to employ a DSP-based electric machine emulator (EME) for motor control unit testing, this paper introduces a novel approach to enhance the emulator's accuracy. The inaccuracies caused by terminal voltage sampling errors in the motor control unit and voltage distortions in the inverter are addressed in this paper. An advanced equivalent voltage acquisition technique, which samples the duty cycle-amplitude of the inverter's terminal voltage, is developed. Leveraging the acquired equivalent voltage data, a novel voltage compensation strategy that providing more accuracy in EME performance is proposed. The mathematical foundation of the EME is established using Kirchhoff's voltage and current laws. These findings are independently validated through simulations and experiments. The results provide robust evidence that the proposed equivalent voltage acquisition and compensation strategies can enhance the accuracy of the EME.

关键词： AC motor drives hardware-in-the loop simulation

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hardware-in-the-loop Methods for Real-Time Frequency-Response Measurements of on-Board Power Distribution Systems

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2019年第7期66卷 5769-5777页

作者： Roinila, Tomi Messo, Tuomas Luhtala, Roni Scharrenberg, Rick de Jong, Erik C. W. Fabian, Alejandra Sun, Yin Tampere Univ Technol Lab Automat & Hydraul Tampere 33720 Finland Tampere Univ Technol Lab Elect Energy Engn Tampere 33720 Finland DNV GL NL-6812 AR Arnhem Netherlands

The operation of more electric aircraft is dependent on the embedded power grid. Therefore, the on-board power-distribution system must be reliable, having a high level of survivability, and promptly respond to any change in aircraft's operation. Recent studies have presented a number of frequency-response-based tools with which to analyze both single-and multiconverter systems. The methods can be efficiently applied for on-board system analysis, stability assessment, and adaptive control design. Most often, wideband measurement techniques have been applied to obtain the frequency response from a specific converter or a subsystem required for the analysis. In the methods, a broadband excitation such as a pseudorandom binary sequence (PRBS) is used as an external injection, and Fourier techniques are applied to extract the spectral information. This paper presents implementation techniques of the wideband methods using power-hardware-in-the-loop measurements based on OPAL-RT real-time simulator. The presented methods make it possible to modify the system characteristics, such as impedance behavior, in real time, thereby providingmeans for various stability and control design tools for on-board power distribution systems. Experimental measurements are shown from a high-power energy distribution system recently developed at DNV GL, Arnhem, The Netherlands.

关键词： Frequency response hardware-in-the loop simulation microgrids power distribution system identification

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Research on a coordinated cornering brake control of three-axle heavy vehicles based on hardware-in-loop test

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IET INTELLIGENT TRANSPORT SYSTEMS 2019年第5期13卷 905-914页

作者： Li, Shaohua Zhao, Junwu Yang, Shaopu Fan, Haoyang Shijiazhuang Tiedao Univ Sch Mech Engn 17 NortheastSecond Inner Ring Shijiazhuang 050043 Hebei Peoples R China

A direct yaw moment controller/anti-lock braking system (DYC/ABS) coordinated cornering brake control scheme is proposed for three-axle vehicles to improve the handling performance while shortening the brake distance. A proportional-integral method is designed in DYC control. The cornering stiffness of the two-degrees of freedom vehicle model is fitted in real time. The Dugoff tire model is used to establish the relationship between the yaw moment and wheel slip ratio;an optimal allocation method is proposed to allocate the force requirements to each tire. To verify the effect, vehicle responses under various speeds and turning radii are analysed with DYC/ABS coordinated control, ABS control, and no control based on co-simulation of TruckSim and MATLAB/Simulink. According to the chattering caused by sliding mode control, two sliding mode controllers using saturation function and modified exponential reaching law are, respectively, designed to obtain the braking moment in ABS control. A pneumatic braking hardware-in-loop (HIL) test system is developed;the effectiveness of the strategy is verified by experiments. The results show that the coordinated control can reduce lateral acceleration, brake distance, and brake time when the vehicle runs under cornering brake;thus has an excellent effect on balancing the handling stability and braking safety.

关键词： axles tyres braking stability road safety variable structure systems steering systems road vehicles pneumatic systems motion control velocity control control engineering computing hardware-in-the loop simulation coordinated cornering brake control three-axle heavy vehicles three-axle vehicle proportional-integral method Dugoff tire model ABS control sliding mode controllers handling stability braking safety yaw moment controller optimal allocation antilock braking system wheel slip ratio TruckSim MATLAB Simulink pneumatic braking hardware-in-loop test system

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Investigating the effects of current thresholds on phase jump limits and withstand capabilities in grid-forming converters

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IET GENERATION TRANSMISSION & DISTRIBUTION 2024年第11期18卷 2133-2143页

作者： Zhang, Ziqian Schuerhuber, Robert Fickert, Lothar Chen, Guochu Graz Univ Technol Inst Elect Power Syst Graz Austria Shanghai DianJi Univ Sch Elect Engn Shanghai Peoples R China

The inherent constraints of grid-forming converters affect their ability to maintain voltage source characteristics within a specific operational range. In response to these limitations, ongoing pilot projects involving grid-forming technology have adjusted their current thresholds up to three times the rated current, significantly exceeding the traditionally threshold of 1.2 times the rated current. This paper aims to investigate the effects of current thresholds on the dynamic responses of grid-forming converters under large disturbances, with the intention of identifying an optimal current threshold that meets the grid's demands for maintaining voltage source characteristics and overall stability. A novel power angle relationship is introduced, integrating current limits and anti-windup voltage controls into the equivalent circuit models of these converters. Analytical expressions for stable and unstable equilibrium points are derived, improving insights into the converters' dynamic behaviour and their resilience to phase jumps across various current thresholds and short-circuit ratios. Findings indicate that higher current thresholds substantially improve phase jump limits and withstand capabilities. The paper concludes with proposed configurations and optimization strategies for current thresholds, all supported by experimental validation.

关键词： current limiters hardware-in-the loop simulation power system transient stability

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Controller area network reliability: overview of design challenges and safety related perspectives of future transportation systems

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IET INTELLIGENT TRANSPORT SYSTEMS 2020年第13期14卷 1727-1739页

作者： Ben Lakhal, Nadhir Mansour Nasri, Othman Adouane, Lounis Hadj Slama, Jaleleddine Ben Clermont Auvergne Univ UCA SIGMA UMR CNRS 6602 Inst Pascal F-63178 Aubiere France Univ Sousse Natl Engn Sch Sousse ENISo LATIS Lab BP 264 Sousse Erriadh 1023 Tunisia Univ Technol Compiegne CNRS Heudiasyc UMR 7253 F-60203 Compiegne France

The in-vehicular networked control system is among the most critical embedded processes. The controller area network (CAN) has prevailed intra-vehicle communication for decades. Meanwhile, requirements of future transportation systems are expected to emphasise the in-vehicle communication complexity, which endangers the reliability/safety of the intelligent navigation. At first, this study reviews the recent solutions proposed to overcome the CAN expanding complexity. Challenges that tomorrow's intelligent vehicles may raise for CAN reliability are investigated. The comprehensive coverage of current research efforts to remove the impact of these challenges is presented. Further, the in-vehicle system reliability of future automated vehicles is also related to the fault diagnosis performances. Hence, different classes of system-level diagnosis strategies are compared relatively to the requirements of automotive embedded networks. Furthermore, to thoroughly cover CAN reliability engineering issues, focus is given to the automotive validation techniques. The hardware in the loop, real-time analysis and computer-aided-design tools intervene in various phases along the in-vehicular network life cycle. Parameters that stand behind the efficiency and accuracy of these techniques in validating the new generation of vehicles are analysed. The authors finally draw some deductive predictions about the future directions related to the reliability of the intelligent transportation system in-vehicular communication.

关键词： automotive electronics fault diagnosis controller area networks reliability embedded systems hardware-in-the loop simulation CAD controller area network reliability design challenges safety transportation systems in-vehicular networked control system intra-vehicle communication intelligent navigation CAN expanding complexity in-vehicle system reliability automated vehicles fault diagnosis performances system-level diagnosis strategies automotive embedded networks CAN reliability engineering issues automotive validation techniques computer-aided-design tools in-vehicular network life cycle intelligent transportation system in-vehicular communication embedded processes hardware in the loop real-time analysis

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NEFTSec: Networked federation testbed for cyber-physical security of smart grid: Architecture, applications, and evaluation

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IET CYBER-PHYSICAL SYSTEMS: THEORY & APPLICATIONS 2022年第4期7卷 197-211页

作者： Singh, Vivek Kumar Govindarasu, Manimaran Porschet, Donald Shaffer, Edward Berman, Morris Natl Renewable Energy Lab Cyber Secur & Resilience Golden CO 80401 USA Iowa State Univ Dept Elect & Comp Engn Ames IA USA US CCDC Army Res Lab ARL Adelphi MD USA

As today's power grid is evolving into a densely interconnected cyber-physical system (CPS), a high fidelity and multifaceted testbed environment is needed to perform cybersecurity experiments in a realistic grid environment. Traditional standalone CPS testbeds lack the ability to emulate complex cyber-physical interdependencies between multiple smart grid domains in a real-time environment. Therefore, there are ongoing research and development (R&D) efforts to develop an interconnected CPS testbed by sharing geographically dispersed testbed resources to perform distributed simulation while analysing simulation fidelity. This paper presents a networked federation testbed for cybersecurity evaluation of today's and emerging smart grid environments. Specifically, it presents two novel testbed architectures, including cyber federation and cyber-physical federation, identifies R&D applications, and also describes testbed building blocks with experimental case studies. It also presents a novel co-simulation interface algorithm to facilitate distributed simulation within cyber-physical federation. The resources available at the PowerCyber CPS security testbed at Iowa State University (ISU) and the US Army Research Laboratory are utilised to develop this platform for performing multiple experimental case studies pertaining to wide-area protection and control applications in power system. Finally, experimental results are presented to analyse the simulation fidelity and real-time performance of the testbed federation.

关键词： cyber-physical systems cybersecurity hardware-in-the loop simulation phasor measurement power grids testbed federation

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Leveraging graph clustering techniques for cyber-physical system analysis to enhance disturbance characterisation

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IET CYBER-PHYSICAL SYSTEMS: THEORY & APPLICATIONS 2024年第4期9卷 392-406页

作者： Jacobs, Nicholas Hossain-McKenzie, Shamina Sun, Shining Payne, Emily Summers, Adam Al-Homoud, Leen Layton, Astrid Davis, Kate Goes, Chris Sandia Natl Labs Cyber Resilience R&D Albuquerque NM 87123 USA Texas A&M Univ Elect & Comp Engn College Stn TX USA Texas A&M Univ J Mike Walker Dept Mech Engn 66 College Stn TX USA Sandia Natl Labs Elect Power Res Albuquerque NM USA

Cyber-physical systems have behaviour that crosses domain boundaries during events such as planned operational changes and malicious disturbances. Traditionally, the cyber and physical systems are monitored separately and use very different toolsets and analysis paradigms. The security and privacy of these cyber-physical systems requires improved understanding of the combined cyber-physical system behaviour and methods for holistic analysis. Therefore, the authors propose leveraging clustering techniques on cyber-physical data from smart grid systems to analyse differences and similarities in behaviour during cyber-, physical-, and cyber-physical disturbances. Since clustering methods are commonly used in data science to examine statistical similarities in order to sort large datasets, these algorithms can assist in identifying useful relationships in cyber-physical systems. Through this analysis, deeper insights can be shared with decision-makers on what cyber and physical components are strongly or weakly linked, what cyber-physical pathways are most traversed, and the criticality of certain cyber-physical nodes or edges. This paper presents several types of clustering methods for cyber-physical graphs of smart grid systems and their application in assessing different types of disturbances for informing cyber-physical situational awareness. The collection of these clustering techniques provide a foundational basis for cyber-physical graph interdependency analysis. The security and privacy of cyber-physical systems requires improved understanding of the combined cyber-physical system behaviour and methods for holistic analysis. This paper presents several types of clustering methods for cyber-physical graphs of smart grid systems and their application in assessing different types of disturbances for informing cyber-physical situational awareness. The collection of these clustering techniques provide a foundational basis for cyber-physical graph interdependency anal

关键词： critical infrastructures cyber-physical systems data analysis decision making directed graphs graph theory hardware-in-the loop simulation power system security

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Learning the geometry of short-circuit faults in power systems for real-time fault detection and classification

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IET CYBER-PHYSICAL SYSTEMS: THEORY & APPLICATIONS 2023年第4期8卷 289-306页

作者： Cuellar, Juan Pablo Naranjo Lopez, Gustavo Ramos Trujillo, Luis Felipe Giraldo Univ Andes Dept Elect & Elect Engn Bogota Colombia Univ Andes Dept Biomed Engn Bogota Colombia Cra 1 Este 19A-40 Piso 7 Bogota DC Colombia

Given the short time intervals in which short-circuit faults occur in a power system, a certain time delay between the moment of a fault's inception in the system to the moment in which the fault is actually detected is introduced. In this small time margin, the high amplitudes of the fault current can deal significant damage to the power system. A technique to characterise different types of short circuit faults in a power system for real-time detection, namely AB, BC, CA, ABC, AG, BG and CG faults (and normal operation), is presented based on the geometry of the curve generated by the Clarke transform of the three-phase voltages of the power system. The process was conducted in real time using the HIL402 system and a Raspberry Pi 3, and all programming done in the Python programming language. It was concluded that the tested types of faults can be accurately characterised using the eigenvalues and eigenvectors of the matrix that characterises an ellipse associated with each fault: eigenvalues can be used to determine the fault inception distance and eigenvectors can be used to determine the type of fault that occurred. Next, the design of a machine learning model was done based on the previously mentioned characterisation technique. The model was embedded into a Raspberry Pi 3, thus enabling fault detection and classification in a base power system in real time. Finally, the accuracy of the model was tested under different measurement conditions, yielding satisfactory results for a selected set of conditions and overcoming the shortcomings presented in the current research, which do not perform detection and classification in real time. The work proposed in this paper presents a fault characterisation technique for different types of faults based on the eigenvalues and eigenvectors of the matrix associated with the ellipse generated by the Clarke transform of the three-phase voltages of a power system in real ***

关键词： fault diagnosis hardware-in-the loop simulation power grids

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Optimised controlled charging of electric vehicles under peak power-based electricity pricing

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IET SMART GRID 2020年第6期3卷 751-759页

作者： Simolin, Toni Rauma, Kalle Jarventausta, Pertti Rautiainen, Antti Tampere Univ Unit Elect Engn Korkeakoulunkatu 7 Tampere 33720 Finland TU Dortmund Univ Inst Energy Syst Energy Efficiency & Energy Econ Emil Figge Str 76 D-44227 Dortmund Germany Pohjois Karjalan Sahko Oy Rantakatu 29 Joensuu 80100 Finland

This study presents a practical control method for electric vehicle (EV) charging optimisation for detached and attached houses. The developed EV charging control method utilises real-time measurements to minimise charging costs of up to two EVs in a single household. Since some Finnish distribution system operators have already launched peak power-based distribution tariffs for small-scale customers and because there is a lot of discussion on this kind of tariff development, the control method considers peak power-based charges. Additionally, the proposed smart charging control method utilises charging current measurements as feedback to reallocate unused charging capacity if an EV does not utilise the whole capacity allocated for it. The control method is implemented and tested with commercial EVs. The conducted hardware-in-the-loop simulations and measurements confirm that the control method works as intended. The proposed smart charging control reduces EV charging electricity distribution costs around 60% when compared to the uncontrolled EV charging.

关键词： battery powered vehicles power distribution economics pricing tariffs electric vehicle charging cost reduction optimisation electric current measurement power distribution control hardware-in-the loop simulation feedback optimal control electric vehicle charging optimisation detached houses attached houses Finnish distribution system operators peak power-based distribution tariffs tariff development reallocate unused charging capacity electricity distribution costs optimised controlled charging peak power-based electricity pricing smart charging control method EV charging control method real-time measurements cost reduction charging current measurement feedback hardware-in-the-loop simulation

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Architecture design for performing grasp-and-lift tasks in brain-machine-interface-based human-in-the-loop robotic system

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IET CYBER-PHYSICAL SYSTEMS: THEORY & APPLICATIONS 2019年第3期4卷 198-203页

作者： Chang, Yuchou Univ Houston Downtown Dept Comp Sci & Engn Technol One Main St Houston TX 77002 USA

Human-in-the-loop robotic system is an emerging technique in recent years. Human intelligence as well as machine intelligence are incorporated to accomplish tasks efficiently and effectively. However, grasp-and-lift (GAL) tasks through human-robot interactions are still a problem in an unstructured environment like urban search and rescue. Human assistive GAL tasks enable robots to complete search or rescue procedures quickly and accurately. Brain-machine interface (BMI) controlled robots have demonstrated promising applications in human-robot collaborative manipulations. In this study, an architecture of human-robot team is proposed for performing GAL tasks in BMI-based human-robot systems. The proposed architecture contains several workflows from both human and robot aspects to improve performance. In addition, human brain activities are generally considered as non-stationary signals with varying spatial and temporal distributions. To enhance robustness and stability of brain-controlled robot's GAL tasks, a new method via adaptive boosting mechanism is proposed. The proposed multiple subjects' adaptive boosting is able to suppress noisy data and outliers in multiple subjects' electroencephalogram signals, and therefore enhance accuracy and robustness of intention and sensation signal classification in GAL tasks. Preliminary results show that the new architecture is feasible with ethical establishment and the proposed method can outperform traditional methods.

关键词： electroencephalography medical signal processing neurophysiology learning (artificial intelligence) medical robotics brain-computer interfaces human-robot interaction mobile robots hardware-in-the loop simulation end effectors grippers human-in-the-loop robotic system human intelligence machine intelligence grasp-and-lift tasks human-robot interactions human assistive GAL tasks brain-machine interface controlled robots human-robot collaborative manipulations BMI-based human-robot systems human brain activities brain-controlled robot brain-machine-interface-based human-in-the-loop robotic system nonstationary signals

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