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hardware-in-the-loop testing for low-inertia grids

ELEKTROTECHNIK UND INFORMATIONSTECHNIK 2025年第1期142卷 14-29页

作者： Goeke, Felix Hohmann, Julian Palaniappan, Rajkumar Rehtanz, Christian TU Dortmund Inst Energy Syst Energy Efficiency & Energy Econ Martin Schmeisser Weg 12 D-44227 Dortmund Germany

Extensive testing of various control algorithms using comprehensive testing frameworks enables us to assess their effectiveness in managing system dynamics and maintaining grid stability. In order to validate the algorithms in the real world, testing of the developed applications in an empirical laboratory environment is essential and the testing parameters in the laboratory have to closely resemble real-world conditions. The fundamental aspect of such testing is to monitor and analyze the dynamics and interaction between the various components in synchronous mode, thereby assessing the system's ability to operate the grid without violations. The experimental test setup and script-based testing explained in this paper helps to develop innovative control algorithms, with a key focus on medium voltage and low voltage grids with low rotating masses. The test platform makes extended use of a Typhoon Real-Time Simulator (RTS). Firstly, it is used for the simulation of the distributed energy resources and the overlying distribution grid as well as the implementation of control algorithms. Secondly, the RTS acts as a control and SCADA system for the whole testing platform. While the physical components provide measurements in regular intervals, the control algorithms and the energy management system are implemented directly in the Typhoon platform. The data acquisition is performed either via programmable logic controllers for the nodal measurements or through faster measurements such as current transformers. This ensures that the developed algorithms are empirically tested and optimized in close to real-world conditions. The control algorithms provide the set points for the individual components, and the results show the advantages of script-based testing in HIL testing to ensure deterministic and reliable operation of innovative grid components. Im Bereich moderner Energiesysteme mit fortschrittlichen Netzsteuerungs- und Managementstrategien wird der Bedarf an umfassende

关键词： hardware-in-the-loop testing System-level testing Grid-forming inverters Real-time simulation hardware-in-the-loop Netzbildende Umrichter Echtzeitsimulation Systemtests

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hardware-in-the-loop simulation for online identification of lithium-ion battery model parameters and state of charge estimation

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RESULTS IN ENGINEERING 2025年 25卷

作者： Le, Quoc Dan Lam, Quoc Minh Huynh, Minh Nhat Nguyen, Huy Hung Duong, Van Tu Vietnam Acad Sci & Technol Inst Appl Mech & Informat Hanoi Vietnam Sai Gon Univ Fac Elect & Telecommun Ho Chi Minh City Vietnam Ho Chi Minh City Univ Technol HCMUT Fac Mech Engn Key Lab Digital Control & Syst Engn DCSELab 268 Ly Thuong Kiet StDist 10 Ho Chi Minh City Vietnam Vietnam Natl Univ Ho Chi Minh City Ho Chi Minh City Vietnam

Accurately estimating the state of charge (SOC) of Lithium batteries remains a major challenge due to their nonlinear behavior, especially when the initial SOC value significantly deviates from the actual one. To address this issue, this study introduces a new algorithm to estimate the battery SOC based on adaptive unscented Kalman filter (AUKF). The modified AUKF (mAUKF) begins by constructing a second-order Thevenin model of the batteries through the forgetting factor recursive least squares (FFRLS) method, and then implements the novel approach for SOC estimation. The proposed method retains the strengths of the AUKF while dynamically adjusting the process and measurement noise covariance to improve SOC estimation robustness and accuracy. The effectiveness of the method is validated using both simulation and experimental results. Additionally, to avoid the limitations of pure simulation or experimentation in validating when there are novel SOC estimation algorithms, a hardware-in-the-loop (HIL) test bench is also introduced. The final results demonstrate that the mAUKF algorithm achieves faster convergence rates of about 45% and 49% when handling large initial errors and transient responses compared to the original methods, in simulation and experiment cases, respectively.

关键词： State-of-charge Adaptive unscented Kalman filter hardware-in-the-loop Forgetting factor recursive least squares battery management systems

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A Novel Digital Twin Framework With hardware-in-the-loop for Engine Systems

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2025年第5期26卷 6451-6462页

作者： Huang, Shuai Li, Tie Wang, Ye He, Wei Xu, Siting Cao, Hang Li, Shiyan Chen, Run Yi, Ping Wang, Xinran Shanghai Jiao Tong Univ State Key Lab Ocean Engn Shanghai 200240 Peoples R China Marine Design & Res Inst China Shanghai 200011 Peoples R China Aero Engine Corp China Shenyang Engine Design & Res Inst Shenyang 110066 Peoples R China Natl Instruments Corp Austin TX 78759 USA

Digital twin plays an important role on realizing the digitization and intelligence of the smart engine for the maritime intelligent transportation systems. However, digital twin modeling of the engine systems faces the challenges of multidisciplinary knowledge, multi-scale, real time, complex structure, etc. In this study, the hardware-in-the-loop technology is introduced into the digital twin modeling processes. A six-dimension digital twin model framework is proposed, which contains physical entity, hardware-in-the-loop, virtual equipment, application service, digital twin data, and connections. The digital twin framework is described in detail for the engine system. The application of the hardware-in-the-loop in the digital twin modeling is further expounded with the example of a single-cylinder engine test bench. The new digital twin model framework and modeling method will be benefit for the construction of digital twin for complex systems such as power plants, vehicles, ships, etc.

关键词： Digital twins Engines Real-time systems Analytical models Data models Predictive models Context modeling Computational modeling Atmospheric modeling Physics Digital twin modeling hardware-in-the-loop engine system model verification

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An integral backstepping and nonlinear disturbance observer-based sliding mode control for active fault-tolerant quadcopter UAVs with simulation as well as hardware-in-the-loop experiments

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INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL 2025年第4期13卷 1-31页

作者： Abdullah, Muhammad Zulfiqar, Adil Arman, Jamal Hussain Natl Univ Comp & Emerging Sci FAST Dept Elect Engn Chiniot Punjab Pakistan

Unmanned aerial vehicles (UAVs) are particularly vulnerable to motor failures during flight. Any type of motor failure adversely affects UAV dynamics, endangering flight reliability and safety as the controller loses efficiency. This work addresses the quadcopter motor failure challenges by designing, simulating, and validating a fault-tolerant controller for a quadcopter UAV with motor defects using hardware-in-the-loop (HIL) analysis. An integral back-stepping controller (IBSC) and a nonlinear disturbance observer-based sliding mode control (NL-DO-SMC) are proposed for quadcopter translational and rotational motion control, respectively. The SMC with nonlinear disturbance observer (NL-DO) provides a fault-tolerance control that forecasts the impact of motor failures on the quadcopter dynamics. Furthermore, the NL-DO strengthens the SMC's resistance to uncertainties and disturbances affecting the quadcopter while in flight. The proposed model immediately attenuates any actuator malfunction identified during the flight motion. In this study, both simulations and HIL experimental analyses are used to validate the effectiveness of the proposed fault tolerance control model. The findings show that, even in the presence of motor faults up to 50% on a single motor of the quadcopter, the proposed fault-tolerant controller is capable of effectively restoring complete control of the quadcopter while maintaining the intended rotation angles and following the desired trajectory.

关键词： Control system Back-stepping control Quadcopter Sliding mode control hardware-in-the-loop

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A review of haptic technologies for hardware-in-the-loop development

SENSORS AND ACTUATORS REPORTS

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SENSORS AND ACTUATORS REPORTS 2025年 9卷

作者： Ajayi, Oluwaseun Kayode Du, Shengzhi Nahri, Syeda Nadiah Fatima Tshwane Univ Technol Dept Elect Engn Pretoria South Africa

Retrofitting haptic technology into existing systems requires a thorough understanding of how haptic technology works. It is essential to select appropriate methods and devices to avoid accidents and losses. A comprehensive literature search was done to investigate haptic technologies over the years to understand their adoption and application. In the current work, the hardware-in-the-loop is of utmost interest, however, the control and software were briefly discussed. The sensors, actuators, and materials used to design haptic devices were explored. Furthermore, specific applications like the intended research, their drawbacks, and possible solutions are presented. However, flexible materials seem to be more versatile in their applications. This may be due to the flexibility, size, and ease of integration. The development of multimodal sensors and feedback was identified to improve haptic system performance.

关键词： Haptic technologies Sensors Actuators hardware-in-the-loop

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HINT-Sec: hardware-in-the-loop nuclear power plant testbed for cyber security

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PROGRESS IN NUCLEAR ENERGY 2025年 180卷

作者： Nam, Kihaeng Kwon, Kookheui Kim, Aram Korea Inst Nucl Nonproliferat & Control Div Cybersecur 1418 Yuseong Dearo Daejeon 34101 South Korea Univ Suwon Dept Informat Secur 17 Wauan Gil Hwasung 18323 Gyeonggi Do South Korea

The increasing integration of digital technologies within nuclear power plants has heightened their susceptibility to cyber threats, underscoring the need for advanced research frameworks dedicated to cybersecurity. This research introduces HINT-Sec, a high-fidelity hardware-in-the-loop testbed meticulously designed for cybersecurity research in nuclear power plants. HINT-Sec integrates a verified NPP simulator with both safety-grade and non-safety-grade programmable logic controllers, as well as distributed control systems, facilitating the realistic simulation of cyber-attacks and their consequent impacts on nuclear operations. Through comprehensive performance testing and scenario validation, the capability of HINT-Sec to accurately replicate the behavior of the APR1400 reactor under both normal and abnormal conditions is demonstrated. This capability provides a robust platform for the evaluation and development of cybersecurity measures within NPP environments. The design and implementation approach of the HINT-Sec testbed represents a significant contribution to the field of nuclear cybersecurity, ensuring that future research will be equipped to address the intricate challenges posed by cyber threats in critical infrastructure.

关键词： hardware-in-the-loop Cybersecurity Testbed Simulator Cyber physical system Nuclear power plant

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Towards Fully-automated hardware-in-the-loop Grid Code Compliance Certification of Inverter-based Distributed Energy Resources

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IEEE Access 2025年

作者： Menegazzo, Luiz F. R. Severo, Anderson L. N. Bortolini, Ricardo J. F. Piton, Lucas B. Magnago, Henrique Carnielutti, Fernanda de Morais Bellinaso, Lucas Vizzotto Michels, Leandro Pinheiro, Humberto Federal University of Santa Maria Power Electronics and Control Group RS Santa Maria Brazil WEG S.A. Brazil Typhoon HIL inc United States

Inverter-based Distributed Energy Resources (DERs) third-party compliance testing has been widely required by most grid codes to guarantee interoperability with the electrical power system. However, most grid code certification procedures only accept the evaluation of the whole product under full-power environments. For high-power equipment, this procedure is costly, time-intensive, and complex to be performed. Due to this, many efforts have been made to make possible using Controller hardware-in-the-loop (CHIL) testing for validation of the inverter firmware from early product development through final certification, facilitating the identification of early issues and reducing debugging time and costs. On the other hand, since most CHIL tests are performed in environments distinct from full power laboratory testing, both approaches often follow different procedures and do not take into account the same metrics, which can result in low fidelity between CHIL and power laboratory results. In order to make possible to use CHIL for compliance testing, model validation has to be performed, guaranteeing that model fidelity is satisfactory. In this context, this paper presents a comprehensive methodology to validate CHIL models and to clearly identify, measure, and reduce differences between the results obtained with CHIL and with power laboratory testing environments. The methodology is based on standardized quantitative test procedures applied to both CHIL and power laboratory testing. The proposed methodology is extensively validated through experimental results carried out on a commercial single- phase photovoltaic inverter. Results demonstrate the validity of CHIL testing methodology and propose an alternative method for grid code compliance testing and certification. © 2013 IEEE.

关键词： CHIL hardware-in-the-loop PHOTOVOLTAIC INVERTER POWER ELECTRONICS TEST AUTOMATION TEST PLATFORM

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hardware-in-the-loop for Wind Energy Conversion with Resonant Current Control and Active Damping

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IEEE LATIN AMERICA TRANSACTIONS 2019年第7期17卷 1146-1154页

作者： Munoz-Jadan, Y. Espinoza-Bolanos, M. Donoso-Merlet, F. Hidalgo-Leon, R. Soriano-Idrovo, G. Jacome-Ruiz, P. Inst Super Tecnol Jose Ochoa Leon Pasaje El Oro Ecuador FIMCP ESPOL Ctr Energias Renovables & Alternat Guayaquil Ecuador Univ Chile Dept Ingn Elect Santiago Chile

In this paper, the design of current control system based on multiple resonant controllers with active damping control strategy for wind energy conversion system in Back-To-Back configuration with LCL filter is presented. Due to its ability to perform control and compensation of the injected currents into the network, the proposed system is a resonant current control (PR) and harmonic compensators (HC) of fifth and seventh order that allows the injection of currents with low harmonic distortion to the electrical network. The high frequency harmonics generated by the converter are damped by LCL filter. As a solution to the effects of the resonance frequency of the LCL filter, the active damping strategy is implemented. This improve the quality of current signal significantly, obtaining a THDi=3.56% and percentage level of each current harmonic lower than 2%. The proposed control interacts in real time with the wind energy conversion system through the "hardware-in-the-loop" technique carried out in the Triphase PM5F60R, located in the microgrid laboratory of the University of Chile.

关键词： hardware-in-the-loop Active damping Resonant Controllers Current Control LCL Filter Configuration Back-To-Back Triphase PM5F60R wind turbine

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hardware-in-the-loop simulation of trajectory following control for a light armoured vehicle optimised with particle swarm optimisation

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INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS 2019年第5期26卷 663-691页

作者： Amer, Noor Hafizah Hudha, Khisbullah Zamzuri, Hairi Aparow, Vimal Rau Abd Kadir, Zulkiffli Univ Pertahanan Nas Malaysia Fac Engn Dept Mech Engn Kuala Lumpur 57000 Malaysia Univ Teknol Malaysia Malaysia Japan Int Inst Technol Jalan Semarak Kuala Lumpur 54100 Malaysia

Naturally, the unmanned armoured vehicle is important in military missions and to minimise the casualty of military personnel. Steering control is one of the most important aspects of unmanned vehicles. Therefore, in this research, a trajectory following control from Stanley autonomous vehicle is employed and optimised for a light armoured vehicle (LAV) to follow a predefined trajectory. The proposed controller is developed on a validated armoured vehicle model which consists of a 7-degree-of-freedom handling model and other vehicle interactions. To study the controller's behaviour with respect to each parameter, the sensitivity analysis was carried out. The controller is then optimised using particle swarm optimisation (PSO) algorithm and then tested on a physical Pitman arm steering actuator system through hardware-in-the-loop (HiL) simulation. It was shown that the PSO-tuned Stanley controller is able to automatically steer the vehicle to follow the predefined path with an average lateral cross-track error of 0.26 m.

关键词： armoured vehicle trajectory tracking path tracking hardware-in-the-loop Stanley autonomous vehicle

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hardware-in-the-loop for on-line identification and control of three-phase squirrel cage induction motors

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SIMULATION MODELLING PRACTICE AND THEORY 2010年第3期18卷 277-290页

作者： Saleem, Ashraf Issa, Rateb Tutunji, Tarek Philadelphia Univ Fac Engn Mechatron Engn Dept Amman 19392 Jordan Balqa Appl Univ Fac Engn Mechatron Engn Dept Salt Jordan

This paper describes a strategy for identification and control of three-phase squirrel cage induction motors. The strategy in this work is divided into 3 stages: on-line identification, off-line controller design, and on-line control. First, the transfer function is identified online. Next, the controller design is performed in a pure simulation environment using the identified transfer function. Finally, the designed controller is applied to the real system. Simulation and experimental results are presented to show the validity of the proposed strategy. Advantages of the proposed strategy include high accuracy in the identified system, simplicity, and low cost. (C) 2009 Elsevier B.V. All rights reserved.

关键词： Identification and control Induction motor hardware-in-the-loop ARMA models

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