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25th IEEE Conference on Signal Processing - Algorithms, Architectures, Arrangements, and Applications (IEEE SPA)

作者： Szolc, Hubert Kryjak, Tomasz AGH Univ Sci & Technol Dept Automat Control & Robot Comp Vis Lab Embedded Vis Syst Grp Krakow Poland

ISBN: (数字)9788362065424

ISBN: (纸本)9788362065424

This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a PC and an Arty Z7 development board with a Zynq SoC chip from AMD Xilinx were used. Communication was carried out via a serial USB link. An application for autonomous landing on a specially marked landing strip was selected as a case study. A landing site detection algorithm was implemented on the Zynq SoC platform. This allowed processing a 1280 x 720 @ 60 fps video stream in real time. Performed tests showed that the system works correctly and there are no delays that could negatively affect the stability of the control. The proposed concept is characterised by relative simplicity and low implementation cost. At the same time, it can be applied to test various types of high-level perception and control algorithms for UAV implemented on embedded platforms. We provide the code developed on GitHub, which includes both Python scripts running on the PC and C code running on Arty Z7.

关键词： hardware-in-the-loop HiL Unmanned Aerial Vehicle UAV FPGA SoC autonomous landing

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hardware-in-the-loop for Simulation of Hydraulic Servo Systems and their Control 6

Hardware-in-the-loop for Simulation of Hydraulic Servo Syste...

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6th Mediterranean Conference on Embedded Computing (MECO)

作者： Zaev, Emil Babunski, Darko Tuneski, Atanasko Rath, Gerhard Ss Cyril & Methodius Univ UKIM Fac Mech Engn Skopje 1000 Macedonia Univ Leoben MUL Inst Automat A-8700 Leoben Austria

ISBN: (纸本)9781509067428

Hydraulic equipment suffered a great change during the last years advancing from hydro-mechanical devices to digitally controlled electro-hydraulic systems. There are also changes in hydraulic schemes permitting increased number of control variables (e.g. separate metering systems- SMISMO). Available control strategies which require high computing performances, like optimal control, must be examined for implementation on real hardware. For this purpose digital controllers must be tested in real-time before they are implemented in the real machine. hardware-in-the-loop (UM) is technology which is available for this. In this paper a procedure for development of HIL simulator for servovalve driven system and SMISMO hydraulic systems is shown. First, mathematical model of hydraulic systems is developed using graphical environment. Then, real-time simulations are performed with a platform consisted from two industrial PLC and one PC. One PLC is used to simulate the real system (servo valve-cylinder) and the other one is real controller under test. PC is used for changing controller parameters and visualization.

关键词： hardware-in-the-loop simulation control hydraulic system servo PLC SMISMO

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hardware-in-the-loop Simulation of Wind Turbine Based on 6 Degree-of-Freedom Load

Hardware-In-the-Loop Simulation of Wind Turbine Based on 6 D...

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China International Electrical and Energy Conference (CIEEC)

作者： Wu Xiaopeng Meng Yanfeng Hu Shuju Song Bin Univ Chinese Acad Sci Chinese Acad Sci Inst Elect Engn Beijing Peoples R China Chinese Acad Sci Inst Elect Engn Beijing Peoples R China

ISBN: (纸本)9781509062768

Wind turbine simulator (WTS) makes the research of wind power generation technology in laboratory possible. However, only 1 degree-of-freedom (DoF) simulations of the wind turbine are studied by most researchers, and they can't imitate the actual comprehensive situations. Therefore, the effects of interactions between electrical and mechanical aspects are not accurately taken into account. This paper proposed a scheme to imitate the output characteristic of the real wind turbine by using a load application system (LAS). In this test system, it is possible to apply the load in all 6 DoF with the help of LAS unit. The test platform is equipped with hardware-in the-loop (HIL,) to investigate system level interactions between electrical and mechanical aspects. Finally, an experimental platform is established and the feasibility and effectiveness of the scheme are proposed.

关键词： Combined simulation Dynamic compensation hardware-in-the-loop Wind energy Wind turbine simulator

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hardware-in-the-loop Simulation System for Dual-star-sensor

Hardware-in-the-loop Simulation System for Dual-star-sensor

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Conference on Optical Sensing and Imaging Technologies and Applications / International Symposium on Optoelectronic Technology and Application (OTA) / Annual Conference of the Chinese-Society-for-Optical-Engineering (CSOE)

作者： Zhang Ying Du Huijie Gao Yang Wang Guohong Qu Huiyang Beijing Simulat Ctr Sci & Technol Special Syst Simulat Lab Beijing 100854 Peoples R China Adv Syst Engn Manufactur Technol Ctr City Beijing Natl Key Lab Intelligent Manufacture Syst Technol Beijing Peoples R China

ISBN: (纸本)9781510623354

Starlight navigation technology is widely used in spacecraft. Celestial navigation is designed for star identification and confirmation of satellite attitudes in the space. Sensors of celestial navigation require hardware-in-the-loop simulation system for ground-testing. A new celestial navigation technology is based on dual-star-sensor for the sake of high accuracy and reliability. hardware-in-the-loop simulation system for ground-testing generates two celestial scenes and projects them into the dual-star-sensors during navigation process by real-time graphics and simulation technologies according to the satellite's orientation.

关键词： Simulation hardware-in-the-loop Celestial Background Dual-star-sensor

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hardware-in-the-loop Test Case Specification for Verification of Software Safety Requirements in the Context of ISO 26262

Hardware-in-the-Loop Test Case Specification for Verificatio...

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International Conference of Electrical and Electronic Technologies for Automotive

作者： Lee, Chi-Seng Huang, Yen-Hsiang Lan, I-Wei Ind Technol Res Inst Mech & Mechatron Syst Res Labs Hsinchu Taiwan

ISBN: (纸本)9788887237382

This paper proposes a methodology for the derivation of test case specification for conducting verification of Software Safety Requirements (SSRs) in a hardware-in-the-loop (HiL) testing environment under the context of ISO 26262 road vehicle functional safety standard. The proposed methodology consists of a two-stage logical workflow that is based on the analysis of safety mechanism instead of testing the SSRs one by one. By systematically determine the test objectives first, the workflow allows a more logical way to devise relevant test scenarios, which are executable in a HiL environment. One test scenario may cover one or more test objectives that in turn would satisfy the SSRs mapped to the safety mechanism in the first place. In addition, an application example based on a digitally controlled power inverter that drives the traction motor of a pure electric vehicle is also presented in this paper, in order to facilitate a better understanding of how the proposed workflow could be implemented to derive test cases in practice.

关键词： ISO 26262 functional safety software safety requirements hardware-in-the-loop

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hardware-in-the-loop-Simulator for Testing of Knee Endoprostheses

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11th International Congress of the IUPESM/World Congress on Medical Physics and Biomedical Engineering

作者： Souffrant, R. Kaehler, M. Dryba, S. Kluess, D. Bader, R. Woernle, C. Univ Rostock Chair Engn Mech & Dynam Rostock Germany Univ Rostock Dept Orthopaed Doberaner Str 142 Rostock Germany

ISBN: (纸本)9783642038815

A major problem of total knee endoprostheses is the instability of the artificial joint. Contributing factors are, for example, insufficient ligament structure, inappropriate implant design or implant malposition. Despite increasing clinical experiences the reoperation rate caused by knee instability has not reduced significantly during the last years. There are still numerous open questions about influence parameters on postoperative instability of total knee endoprostheses. Because in vivo measurements of the joint stability behaviour are not possible, a novel mechatronical hard-ware-in-the-loop (HiL) simulator for joint endoprostheses is presented. HiL simulations allow the analysis of physical system components in a virtual environment simulated by a computer. By means of the HiL joint simulator the kinematic and dynamic behaviour of the total knee endoprosthesis is simulated in order to evaluate experimentally the influencing parameters. The femoral and tibial knee implant components which represent the physical component of the HiL simulator are fixed to artificial bone. The femoral component is moved and loaded by an industrial robot capable to apply physiological forces and torques. The dynamics of the physiological movements including the pre-load of the ligaments as well as soft tissue and muscular forces are simulated by a biomechanical multibody model. The biomechanical model and the robot with the implants mutually interact and represent a closed-loop control system. The new concept of the HiL joint simulator provides a comparative investigation of actual total knee implants under exactly reproducible conditions. It is the basis for optimising influence parameters considering the individual implant design and positioning as well as bone and ligament conditions of the patients.

关键词： Knee endoprosthesis Testing device hardware-in-the-loop Robotics

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hardware-in-the-loop Relay Testing in Dominion's Blackstart Plan

Hardware-in-the-loop Relay Testing in Dominion's Blackstart ...

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2017 IEEE Power & Energy Society General Meeting

作者： Liu, Ren Sun, Rui Tania, Mutmainnia Washington State Univ Sch Elect Engn & Comp Engn Pullman WA 99164 USA Dominion Virginia Power Richmond VA USA Dominion Integrated Resource Planning Richmond VA USA

ISBN: (纸本)9781538622124

When a complete or partial blackout has occurred, the system operator is responsible for assessing the system condition, restoring the system based on the emergency operation procedures and re-establishing the integrity of the interconnection. This procedure is called blackstart. During the blackstart process, the system is operating in relatively weak condition, since the generation capacity is small in each blackstart path and there are plenty of different blackstart transients, such as transmission line energization, load pickup, generator synchronization, and island synchronization. All these blackstart transients and possible small fault current may cause the relay protection function to misoperate. In order to validate the relay performance in the Dominions blackstart plan, Real-Time Digital Simulator (RTDS), amplifier, and SEL relay are utilized to perform the hardware-in the-loop real-time relay testing. The QUAD distance protection function and time-inverse overcurrent protection function are tested for both blackstart steady state operation and blackstart switching operation. The possible problems for the relay protection functions during the blackstart process are found from the testing results.

关键词： Blackstart RTDS hardware-in-the-loop Relay Testing

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Design and hardware-in-the-loop Validation:A Fractional Full Feed-forward Method for Grid Voltage in LCL Grid-connected Inverter Systems

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CSEE Journal of Power and Energy Systems 2023年第5期9卷 1720-1731页

作者： Qingyi Wang Binlei Ju Yudi Lei Dan Zhou Shuai Yin Danyun Li the School of Automation China University of Geosciencesand Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex SystemsWuhan 430074China.

The harmonic disturbance in the background grid is a problem that must be considered in the design of a gridconnected ***,the full feed-forward method cannot completely suppress the harmonic disturbance in theory and is sensitive to *** tackle these problems,a fractional full feed-forward method of grid voltage is proposed in this ***,the mathematical model of the full feed-forward method is deduced,and the differences with the theoretical solution,which can suppress all harmonics,are ***,the parameter equation,the harmonic suppression performance,stability analysis and the implementation process of this method are *** with the full feed-forward method,the proposed method not only further improves the harmonic suppression performance,but also reduces the order of the mathematical model of the differential term in the feed-forward *** addition,the proposed method can be used to flexibly design feed-forward coefficients by selecting the order of suppressed ***,the proposed method is validated by a hardware-in-the-loop experiment on a MT real-time control platform NI PXIE-1071.

关键词： Fractional differential full feed-forward method hardware-in-the-loop LCL inverter

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The design and hardware-in-the-loop simulation test of a parallel hybrid transmission control system

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INTERNATIONAL JOURNAL OF VEHICLE DESIGN 2002年第4期30卷 362-385页

作者： Marco, J Ball, R Jones, RP Roxburgh, A Univ Warwick Warwick Mfg Grp Coventry CV4 7AL W Midlands England

Presented within this paper is the design and hardware-in-the-loop simulation test, HILST, of the transmission control system for the HERO vehicle. The acronym HERO refers to hybrid electric realized off-road, which constitutes a parallel hybrid derivative of a Land Rover Defender. The powertrain comprises of an electrical machine mechanically coupled to the gearbox input shaft. The transmission control system employs the electrical machine to actively assist in the gear change process. The simulated performance of the control system is compared to the results obtained when the control algorithms have been converted to a source code program and compiled to the control module operating within a HILST environment.

关键词： automotive electronic systems hardware-in-the-loop simulation testing

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Evaluation of motor characteristics for hybrid electric vehicles using the hardware-in-the-loop concept

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2005年第3期54卷 817-824页

作者： Oh, SC Korea Univ Technol & Educ Sch Informat Technol Cheonan Chungnam South Korea

If the concept of hardware-in-the-loop (HIL) is applied to component testing, characteristic of component of hybrid electric vehicle in real vehicle environment can be evaluated without actually installing that component in real vehicle. In this paper, when commercially available test motor is adopted as a drivetrain of hybrid vehicle, we need to figure out which drive train configuration would be best for specific purpose. The characteristic of the motor when it is installed in the vehicle at different drive train and driving mode can be simulated and actual characteristic can be measured. Also both results can be compared. For the hardware characteristic measurement, test facility which consists of vehicle simulator and dynamometer is required. In this case, vehicle controller in the vehicle simulator is used as a vehicle controller and dynamometer is used to simulate vehicle dynamics. Two drive train types, 4-motor series, and 2-motor parallel type are proposed. Vehicle speed tracks driving cycle speed command well in both simulation and HIL implementation.

关键词： electric machine hardware-in-the-loop road vehicle electric propulsion vehicle simulation

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