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hardware-in-the-loop Framework for Validation of Ancillary Service in Microgrids: Feasibility, Problems and Improvement

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IEEE ACCESS 2019年 7卷 58104-58112页

作者： Huo, Yujia Gruosso, Giambattista Politecn Milan DEIB I-20133 Milan Italy

Testing complex micro-networks requires the availability of specialized laboratories and interconnected devices. This paper describes the development of a controller-hardware-in-the-loop simulation in the context of the microgrid. This approach provides genuine testing and debugging environment for converter controllers in microgrid under various test conditions by means of real-time simulation. It is also viable to test microgrid dispatching strategies. The platform structure and real-time simulation issues including modeling, circuit partition, and multi-rate design are studied, demonstrating the rationality, and transferability of the design scheme. In the interest of studying the integration of distributed energy resources, a novel low-level control method, which enables the power converters to function as both grid-supplying and grid-supporting, is tested. Some practical implementation issues of the theoretical control algorithm are exposed and alleviated, which shows the value of hardware-in-the-loop simulation, and at the same time contributes evidence to modifying theoretical algorithms in industrial applications.

关键词： Ancillary service distributed energy resources hardware-in-the-loop microgrid

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hardware-in-the-loop environment for verification of a small satellite's on-board software

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AEROSPACE SCIENCE AND TECHNOLOGY 2015年 47卷 388-395页

作者： Fritz, Michael Winter, Sebastian Freund, Juergen Pflueger, Stefan Zeile, Oliver Eickhoff, Jens Roeser, Hans-Peter Univ Stuttgart Inst Space Syst D-70569 Stuttgart Germany Airbus DS GmbH D-88090 Immenstaad Germany

hardware-in-the-loop test beds are applied in industrial satellite development to verify on-board software and to simulate operational scenarios. Spacecraft attitude sensors are simulated by models, which eliminate the need to stimulate them for closed loop scenarios. Similarly, attitude actuators are simulated including actuation interaction with spacecraft dynamics behavior. This approach leads to an enormous reduction in a spacecraft's verification time. Small satellites developed by organizations like AMSAT or by universities are even more limited with respect to available staff and thus even more constrained. As a consequence, there is a need to implement a comparable approach for a hardware-in-the-loop simulation environment at lower cost than in industrial development. The University of Stuttgart has developed and verified a hardware-in-the-loop system test bed for a small satellite's on-board computer while maintaining compliance to industrial standards. Further cost reduction was achieved by applying an industrial system simulation kernel, additional open-source software, the voluntary participation of students, and cooperation with the industry. The system simulation environment connected to the on-board computer was verified by comparing its results with dedicated simulation tools of several disciplines. The latency of signal transfers between the on-board software and the simulator in closed loop operation was determined and analyzed with respect to compliance to control loops and simulation step sizes. All results have been proven to be satisfactory for application in university satellite development and are presented in this publication. This setup is now used in the frame of the on-board software verification for the Flying Laptop satellite. (C) 2015 Elsevier Masson SAS. All rights reserved.

关键词： System simulation On-board software verification hardware-in-the-loop

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hardware-in-the-loop development of a heaving point absorber wave energy converter using inertia emulation

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ELECTRICAL ENGINEERING 2021年第6期103卷 2675-2684页

作者： Berriel, Ryan O. Shadman, Milad Wu, Zhijia Dias, Robson F. S. Stephan, Richard M. Estefen, Segen F. Univ Fed Rio de Janeiro COPPE Elect Engn Dept Av Athos da Silveira Ramos 149 BR-21941914 Rio De Janeiro RJ Brazil Univ Fed Rio de Janeiro COPPE Ocean Engn Dept Offshore Renewable Energy Grp GERO Av Athos da Silveira Ramos 149 BR-21941914 Rio De Janeiro RJ Brazil China Ship Sci Res Ctr Wuxi Jiangsu Peoples R China

The paper presents the development of a downscaled hardware-in-the-loop (HiL) setup for a wave energy converter heaving point absorber. HiL simulation involves the buoy motion coupled to a gearbox system that converts the buoy's vertical movement into rotational. The dynamic movement of the heaving buoy is simulated and converted into rotation. A process is employed to determine the resultant torque based on the generator's rotational speed. The use of an online derivative technique allows the system to implement an inertia emulation. Consequently, without modifying physical components, it is possible to change the system dimension. The demanded torque is then applied using an electric machine torque control loop. The technique is developed for real-time implementation and allows the reproduction of different wave conditions. Froude's law is used to determine the scale down factor considering the machine limitations and the wave conditions. Experimental results validate the methodology.

关键词： Wave energy converter hardware-in-the-loop Heaving point absorber Dry-test setup

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hardware-in-the-loop projector system for light detection and ranging sensor testing

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OPTICAL ENGINEERING 2012年第8期51卷

作者： Kim, Hajin J. Naumann, Charles B. Cornell, Michael C. USA Aviat & Missile Command Aviat & Missile RDEC AMSAM RD SS HW Redstone Arsenal AL 35898 USA Opt Sci Corp Huntsville AL 35808 USA

Efforts in developing a synthetic environment for testing light detection and ranging (LADAR) sensors in a hardware-in-the-loop simulation are continuing at the Aviation and Missile Research, Engineering, and Development Center of the U. S. Army Research, Engineering and Development Command (RDECOM). Current activities have concentrated on evaluating the optical projection techniques for the LADAR synthetic environment. Schemes for generating the optical signals representing the individual pixels of the projection are of particular interest. Several approaches have been investigated and tested with emphasis on operating wavelength, intensity dynamic range and uniformity, and flexibility in pixel waveform generation. This paper will discuss some of the results from these current efforts at RDECOM's System Simulation and Development Directorate's Electro Optical Technology Development Laboratory. (c) 2012 Society of Photo-Optical Instrumentation Engineers (SPIE). [DOI: 10.1117/***.51.8.083609]

关键词： hardware-in-the-loop light detection and ranging seeker simulation projection

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hardware-in-the-loop simulation of two-shaft gas turbine engine's electronic control unit

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2016年第6期230卷 512-521页

作者： Montazeri-Gh, Morteza Abyaneh, Soroush Kazemnejad, Sajjad Iran Univ Sci & Technol Sch Mech Engn Syst Simulat & Control Lab Tehran *** Iran

An electronic control unit for a fuel control system of two-shaft gas turbine engines plays an undisputable role in providing the required fuel flow to the engine as well as satisfying engine's operational characteristics. One of the main challenges in designing such unit is the accuracy of its performance and the control strategy implementation on an electronic hardware via repeatable and comprehensive tests. In this article, a hardware-in-the-loop simulation is presented for testing of the electronic control unit for a two-shaft gas turbine engine. For this purpose, the engine is first presented and modeled by the use of Wiener block structure method. The fuel controller with Min-Max structure is then explained. Finally, the controller is implemented on a PC/104 hardware and tested in an hardware-in-the-loop simulation in order to verify its correct performance. The results show that the fuel controller satisfies all of the engine's physical constraints, confirming the controller competence and successful implementation of the engine control algorithm on the PC/104 hardware.

关键词： hardware-in-the-loop electronic control unit fuel control PC 104

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hardware-in-the-loop Real-Time Implementation of a Vehicle Stability Control Through Individual Wheel Torques

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2024年第4期73卷 4683-4693页

作者： Tristano, Mariagrazia Lenzo, Basilio Xu, Xu Forrier, Bart D'hondt, Thomas Risaliti, Enrico Wilhelm, Erik Sheffield Hallam Univ Dept Engn & Math Sheffield S1 1WB England Univ Padua Dept Ind Engn I-35122 Padua Italy Univ Sheffield Dept Comp Sci Sheffield S10 2TN England Siemens Digital Ind Software TSVT Div B-3001 Leuven Belgium KYBURZ Switzerland AG CH-8427 Freienstein Switzerland

The enhancement of vehicle passenger safety is a central theme for car manufacturers. Since the introduction of Electronic Stability Control (ESC) in the late 90s, researchers in industry and academia have kept striving for continuously enhancing vehicle safety. However, despite significant efforts, the literature shows that a significant number of these endeavors have not advanced beyond theoretical formulations and software simulations. This article presents the testing journey of an individual-wheel-torque-based vehicle stability controller through the major milestones of its development cycle. First, the controller is formulated based on specific vehicle dynamics design requirements. Then, an offline co-simulation is put in place to validate the controller along relevant maneuvers, with the controller running on Matlab-Simulink concurrently with the software Amesim running a 15-dof vehicle model of Siemens' SimRod battery electric vehicle. Next, a real-time co-simulation is achieved, running both the controller and the vehicle model on a real-time platform. Finally, an experimental hardware-in-the-loop setup is built, incorporating a dedicated Electronic Control Unit (ECU), and successfully tested.

关键词： Control direct yaw moment experiments hardware-in-the-loop real-time sideslip angle vehicle dynamics vehicle stability yaw rate

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hardware-in-the-loop system for testing automotive ECU diagnostic software

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MEASUREMENT & CONTROL 2009年第8期42卷 238-245页

作者： Mouzakitis, Alexandros Copp, David Parker, Richard Burnham, Keith Jaguar Land Rover Coventry W Midlands England Coventry Univ Control Theory & Applicat Ctr Coventry W Midlands England

The purpose of this paper is to present on approach to testing ECU diagnostic software using hardware-in-the-loop (HIL) systems at Jaguar Land Rover (JLR). The increasing complexity of embedded software for automotive electronic control units (ECUs) requires a convenient and flexible environment for system testing. On-board diagnostic software represents a significant proportion of ECU software and consequently, the effort in terms of time and manpower required to determine the validity of ECU software is becoming excessive. The process for validating on-board diagnostic software is traditionally achieved using tests carried out with actual vehicles. Some tests are difficult and expensive to perform in vehicles. Automated testing offers an approach that can improve the validation process whilst providing the potential for cost saves Since JLR utilises ECUs from different suppliers, the development of a generic approach to automated testing is vital.

关键词： hardware-in-the-loop Diagnostics Controller area networks ECU testing

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hardware-in-the-loop dynamic load emulation of robotic systems actuated by fluidic artificial muscles

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JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES 2024年第11期35卷 945-959页

作者： Mazzoleni, Nicholas Bryant, Matthew North Carolina State Univ Mech & Aerosp Engn Raleigh NC USA North Carolina State Univ Mech & Aerosp Engn 1840 Entrepreneur Dr Raleigh NC 27606 USA

hardware-in-the-loop (HIL) testing is a popular control system testing method because it bridges the gap between modeling/simulation and experiments. Instead of designing a full hardware-based experiment to validate the results of a simulation, the plant hardware can be replaced with an emulator device that responds to exogenous inputs and effectively emulates the dynamic behavior of a system. This approach can be more cost-effective and modular, since the emulated plant system can be modeled in a simulation environment, implemented on a simplified piece of hardware and changed quickly without having to fabricate new parts. This paper develops the hardware and control scheme for a certain type of HIL device called a dynamic load emulator that consists of a 1-DOF linear hydraulic dynamometer equipped with in-line sensing to measure both its own position and the force exerted on it by a device-under-test. This measured force is passed to a real-time model of the emulated dynamic system. The model outputs the emulated system position, and a closed-loop controller is used to emulate this position. The emulator controller incorporates both model-based feedforward and standard feedback PI control. This paper characterizes the dynamometer-based dynamic load emulator and its controller, determining its hardware limitations and validating its capabilities when experiencing a force input from a linear spring with known parameters. Additionally, this paper demonstrates the ability of the emulator to represent the dynamics of a 1-DOF robotic joint when actuated by a pair of fluidic artificial muscles (FAMs). The primary contribution of this work is to allow for more comprehensive testing of FAM configurations, topologies, and controllers for a wide range of parameters, because the same hardware can be used to emulate multiple systems. As a result, this work will lead to more cost-effective, time-efficient, and energy-efficient designs of robotic systems and the FAMs used to act

关键词： Dynamic load emulator hardware-in-the-loop fluidic artificial muscles dynamics control soft robotics dynamic load emulation hydraulic artificial muscles dynamometer bio-inspiration

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hardware-in-the-loop Verification for Mobile Manipulating Unmanned Aerial Vehicles

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2014年第1-4期73卷 725-736页

作者： Korpela, Christopher Orsag, Matko Oh, Paul Drexel Univ Drexel Autonomous Syst Lab Philadelphia PA 19104 USA Univ Zagreb Fac Elect Engn & Comp Zagreb 10000 Croatia

A hardware-in-the-loop test rig is presented to bridge the gap between basic aerial manipulation research and the ability of flying robots to perform tasks such as bridge repair, agriculture care, container inspection and other applications requiring interaction with the environment. Unmanned aerial vehicles have speed and mobility advantages over ground vehicles and can operate in 3-dimensional workspaces. In particular, the usefulness of these capabilities is highlighted in areas where ground robots cannot reach or terrains they are unable to navigate. However, most UAVs operating in near-earth or indoor environments still do not have the payload capabilities to support multi-degree of freedom manipulators. We present a rotorcraft emulation environment using a 7 degree of freedom manipulator. Since UAVs require significant setup time and to avoid potential crashes, our test and evaluation environment provides repeatable experiments and captures reactionary forces experienced during ground interaction. Recent experiments in insertion tests are presented. The lessons learned from these experiments will be ported onto an actual air vehicle with manipulator.

关键词： Aerial manipulation hardware-in-the-loop UAVs

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hardware-in-the-loop Simulation with X-Plane of Attitude Control of a SUAV Exploring Atmospheric Conditions

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2014年第1-4期73卷 271-287页

作者： Bittar, Adriano Franco de Oliveira, Neusa Maria de Figueiredo, Helosman Valente Univ Denver Dept Elect & Comp Engn Denver CO 80208 USA Inst Tecnol Aeronaut Div Elect Sao Jose Dos Campos Brazil Inst Tecnol Aeronaut Mechatron Div Sao Jose Dos Campos Brazil

The attitude control law for fixed-wing small unmanned aircraft proposed in this paper is constructed based on two phases of a flight: stable flight and maneuvering flight. In the maneuvering flight, the aircraft deflects the main control surfaces (ailerons and elevator), whereas on the stable flight only the trim tabs are deflected. The switch between the two flights is done when the aircraft enters a zone in which the difference between the aircraft's attitude and the reference value that the airplane needs to reach is greater than a predetermined value. The control laws are implemented on an on-board computer and are validated though hardware-in-the-loop (HIL) simulations, between the hardware and the flight simulator X-Plane, which simulates the unmanned aircraft dynamics, sensors, and actuators. The paper proves that this implementation can reduce the rise time and the overshoot, compared with traditional PID implementations. In order to analyze the behavior of the SUAV in these situations, it was performed simulations with Wind Gust and levels of Turbulence, using the X-Plane features.

关键词： SUAV hardware-in-the-loop X-Plane Simulation Atmospheric conditions

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