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hardware-in-the-loop simulation FOR DRIVE WHEEL SLIP CONTROL OF HIGH-POWER TRACTOR FOR PLOUGHING OPERATION

INMATEH - Agricultural Engineering 2025年第1期75卷 390-402页

作者： Zhang, Shuo Luo, YanQing Jia, Lei Wen, JingMing Jin, HongLing Chen, Yu College of Mechanical and Electronic Engineering Northwest A&F University Yangling 712100 China

To address the issue of increased fuel consumption and reduced efficiency caused by excessive slip of the drive wheels during tractor ploughing operations, this paper considered the time-varying, uncertain, and highly nonlinear characteristics of the tractor-operating unit. A nonlinear dynamic model was constructed and a nonlinear slip control method for the drive wheels was designed using sliding mode variable structure control (SMVSC). The method was validated and tested on both the MATLAB/Simulink platform and a hardware-in-the-loop (HIL) simulation platform based on dSPACE. The HILS results indicated that, compared to the fuzzy PID algorithm, under varying soil specific resistance pulses, the mean absolute deviation of slip rate was reduced by 0.013, and the response time decreased by approximately 1.3 seconds with the SMVSC method. In case of pulse variation in slip rate, the SMVSC method reduced the tracking response time by approximately 0.8 seconds and the average control overshoot by about 0.03. Under both experimental conditions, the SMVSC method demonstrated superior control performance, ensuring more stable tractor operation. These findings provide valuable insights for drive slip control in tractor ploughing operations. © (2025), (INMA Bucharest). All rights reserved.

关键词： hardware-in-the-loop simulation

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Optimized Visual Servo Control and Digital Twin-Driven hardware-in-the-loop simulation Methods for Autonomous Surface Manipulator Systems

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年

作者： Li, Tao Cai, Yi Hong Kong Univ Sci & Technol Guangzhou Smart Mfg Thrust Guangzhou 511400 Peoples R China

Autonomous surface manipulator systems (ASMS) are novel, versatile robotics platforms consisting of manipulators and unmanned surface vehicles (USVs) on the water. One of their typical tasks is to grasp floating objects using visual servo control (VSC) methods. However, traditional VSC methods use joint velocities of the manipulator as control objects and they cannot be directly applied to ASMS because of the inability to control the manipulators that use joint angles as motion instructions, and the inability to adjust controller parameters based on ASMS's stability during grasping processes. In addition, it is a challenge to test the grasping performance of ASMS safely and efficiently. To address these issues, this article first develops a 12-degree-of-freedom ASMS model that considers the dynamic coupling between the manipulator and the USV, and proposes a normalized stability index for ASMS. Then, an optimized VSC method is proposed, which employs the joint angles of the manipulator as control targets and can adjust the control gains according to ASMS's stability. After that, a digital twin-driven hardware-in-the-loop simulation platform is developed for experiments. The experimental results validate that the optimized VSC method can improve the grasping success rate and stability of ASMS while maintaining high grasping efficiency.

关键词： Manipulators Manipulator dynamics hardware-in-the-loop simulation Stability criteria Grasping Surface cleaning Safety Mathematical models Indexes Dynamics Autonomous surface manipulator system (ASMS) digital twin (DT) dynamic modeling hardware-in-the-loop (HIL) simulation visual servo control

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Expediting Hybrid Electric Wheel Loader Prototyping: Real-Time Dynamic Modeling and Power Management Through Advanced hardware-in-the-loop simulation

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2025年第2期74卷 2682-2691页

作者： Qiu, Weijin Ashta, Shubham Shaver, Gregory M. Johnson, Scott C. Frushour, Bryan C. Rudolph, Kirk Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA John Deere Intelligent Solut Grp Fargo ND 58102 USA John Deere John Deere Elect Powertrain Waterloo IA 50701 USA

The paper addresses the critical need for a robust testing methodology to assess control performances of off-road vehicles with electrified powertrains due to the challenges posed by stringent emission regulations. The main contribution of this paper lies in the development of an innovative real-time hardware-in-the-loop (HIL) simulation platform tailored for a next-generation battery hybrid electric wheel loader proposed for John Deere. This platform integrates a unique vehicle power management (VPM) strategy, component-level controllers, and physics-based powertrain component models to simulate vehicle operations. Through this new HIL simulation platform, the paper demonstrates the potential for achieving an over 10% reduction in fuel consumption with the proposed next-generation battery hybrid electric wheel loader. The effectiveness of the platform is further validated through in-field testing, aligning the fuel efficiency capabilities and VPM strategy performance with the simulated results in the HIL environment.

关键词： Batteries Engines Wheels Mechanical power transmission Fuels Load modeling Discharges (electric) Motors Generators Vehicle dynamics Off-road vehicle hybrid electric vehicle energy management hardware-in-the-loop simulation

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A hardware-in-the-loop simulation Platform for a High-Speed Maglev Positioning and Speed Measurement System

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TECHNOLOGIES 2025年第3期13卷 108-108页

作者： Yin, Linzi Luo, Cong Liu, Ling Cui, Junfeng Liu, Zhiming Sun, Guoying Cent South Univ Sch Elect Informat Changsha 410012 Peoples R China CRSC Res & Design Inst Grp Co Ltd Beijing 100073 Peoples R China

In order to solve the testing and verification problems at the early development stage of a high-speed Maglev positioning and speed measurement system (MPSS), a hardware-in-the-loop (HIL) simulation platform is presented, which includes induction loops, transmitting antennas, a power driver unit, a simulator based on a field-programmable gate array (FPGA), a host computer, etc. This HIL simulation platform simulates the operation of a high-speed Maglev train and generates the related loop-induced signals to test the performance of a real ground signal processing unit (GSPU). Furthermore, an absolute position detection method based on Gray-coded loops is proposed to identify which Gray-coded period the train is in. A relative position detection method based on height compensation is also proposed to calculate the exact position of the train in a Gray-coded period. The experimental results show that the positioning error is only 2.58 mm, and the speed error is 6.34 km/h even in the 600 km/h condition. The proposed HIL platform also effectively simulates the three kinds of operation modes of high-speed Maglev trains, which verifies the effectiveness and practicality of the HIL simulation strategy. This provides favorable conditions for the development and early validation of high-speed MPSS.

关键词： high-speed Maglev positioning and speed measurement system hardware-in-the-loop simulation induction loop

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Research on Electromagnetic Immunity hardware-in-the-loop simulation Test of ADAS in Intelligent Vehicle 3rd

Research on Electromagnetic Immunity Hardware-In-The-Loop Si...

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3rd International Conference on Information Control, Electrical Engineering, and Rail Transit, ICEERT 2023

作者： Jia, Jia Zhou, Shiying Cui, Maoyuan Zhang, Dongbo Jia, Jin Beijing Jiaotong University Electronic and Information Engineering College Beijing100044 China China Faw Group CO. LTD Intelligent Internet Connection Development Institute Changchun130000 China Chongqing University of Technology Key Laboratory of Advanced Manufacturing Technology for Automobile Parts Ministry of Education Chongqing404100 China

ISBN: (纸本)9789819788903

The EMC testing of the ADAS of intelligent vehicles is greatly affected by weather, road conditions, and other factors in actual road testing. Therefore, this article conducts EMC simulation testing research on the ADAS system of intelligent vehicles based on a semi-anechoic chamber. This article conducts a joint simulation of typical ADAS operating conditions using PreScan and Simulink. By simulating typical test conditions of the ACC system, the effectiveness and reliability of the condition in real road scenarios were evaluated, and the vehicle hardware-in-the-loop test was conducted. The test showed the ACC activation results of the vehicle, indicating that the testing method proposed in this article is feasible and provides a certain reference value for actual road testing. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： hardware-in-the-loop simulation

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Analysis of hardware-in-the-loop simulation (HILS) on Thrust Vectoring Control Design for a Ducted Fan UAV 10th

Analysis of Hardware-in-the-Loop Simulation (HILS) on Thru...

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10th International Seminar of Aerospace Science and Technology, ISAST 2024

作者： Adi, Octavianus Bagaswara Jenie, Yazdi Ibrahim Faculty of Mechanical and Aerospace Engineering Institut Teknologi Bandung Bandung Indonesia

ISBN: (纸本)9789819613434

Ducted fan Unmanned Aerial Vehicles (UAV) face unique control challenges, leading to varied parameters between simulations and real-world testing. hardware-in-the-loop simulation (HILS) bridges this gap by validating control algorithms in real-time. This study integrates Pixhawk 1 as the flight controller, managing UAV dynamics with designed algorithms. Host computers run Autopilot Controller and Plant simulation apps alongside Pixhawk, linking via MAVLink to a Ground Control Station (GCS). simulations demonstrate quicker responses and lower errors than HILS, affected by sensor noise and synchronization delays. Differences in Integral of Time-Weighted Absolute Error, ITAE (45.69%) and amplitude (50.87%) highlight HILS’s longer settling and rise times (averaging 17.1% and 36.99% more than simulation), emphasizing its role in refining UAV control for robust practical performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： hardware-in-the-loop simulation

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Design of a hardware-in-the-loop simulation System for Synchronous Buck Converter 4th

Design of a Hardware-in-the-Loop Simulation System for Synch...

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4th International Conference on Electronic Engineering and Renewable Energy Systems, ICEERE 2024

作者： Bachiri, Mohammed Yousfi, Driss Chaker, Mohammed Elouali, Meryam Boanarijesy, Andronic ESETI Laboratory National School of Applied Sciences Mohammed First University Oujda Morocco TRONICO ATLAS Rabat Morocco

ISBN: (纸本)9789819606436

This paper presents the architecture and the implementation of a hardware-in-the-loop (HIL) system designed for studying synchronous buck converters, also for the development and testing of control strategies. Starting with modeling and discretizing the synchronous buck converter, the work explains the process of constructing a cost-effective HIL system using the Texas Instruments F28069M LaunchPad™ development kit. The proposed HIL system enables real-time visualization of transient and steady-state responses with a LabVIEW Graphical user interface. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： hardware-in-the-loop simulation

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A Review of hardware-in-the-loop simulation for Control Performance Verification of Permanent Magnet Synchronous Motors

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Recent Patents on Engineering 2025年第5期19卷

作者： Li, Wenjuan Tian, Dezheng College of Electrical and Electronic Engineering Harbin University of Science and Technology Harbin China

Background: In previous developments of permanent magnet synchronous motor tests, physical experiments provided results closest to actual working conditions. However, these experiments had long development cycles, increased costs, poor repeatability, and potential risks of damage to equipment and casualties if not handled carefully. The introduction of hardware-in-the-loop real-time simulation technology has effectively addressed these challenges in motor testing development. Therefore, the development of hardware-in-the-loop simulation technology holds significant importance. Objective: The existing real-time simulation platforms summarize specific examples of the current use of real-time simulation, and classify the hardware-in-the-loop simulation of permanent magnet synchronous motors to predict its development trend. Methods: The study analyzes the characteristics of existing real-time simulation platforms and their suitability for different environments. It also examines the modeling methods and real-time simulation techniques for permanent magnet synchronous motors under various circumstances, assessing their feasibility and accuracy, control strategies for permanent magnet synchronous motors are compared and expounds and compares the latest patented technologies. Results: The hardware-in-the-loop simulation system of the permanent magnet synchronous motor is analyzed and compared, and its typical features are summarized. Additionally, the problems in the hardware-in-the-loop simulation system are analyzed, and the future development trend is discussed. Conclusion: Compared to the simulation results of actual motors, the results obtained from hardware-in-the-loop simulation are highly accurate. The utilization of hardware-in-the-loop simulation platforms can effectively decrease development costs, shorten the research and development cycle, and minimize the risks associated with experiments in specific cases when testing permanent magnet synchronous motor syst

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation for the contact dynamic process of flying objects in space

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Science China(Technological Sciences) 2016年第8期59卷 1167-1175页

作者： GAO Feng QI ChenKun REN AnYe ZHAOXianChao CAO Rui SUN Qiao WANG Qian HU Yan HE Jun JIN ZhenLin LIU RenQiang ZHANG Yong GUO WeiZhong HU ZhenYu TANG Ping NI Bo JING QianFeng WANG WeiJun GAO Peng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Institute of Aerospace System Engineering Shanghai Shanghai 201108 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

In the one-gravity environment on the ground, the simulation of the contact process of two flying objects in the zero-gravity environment of space has been a challenging issue since humans first explored space by flying objects. hardware-in-the-loop （HIL） simulation is an important and effective method to test the usability, reliability, and safety of real docking mechanisms in space. There are four main issues for HIL simulation systems： Design of simulators capable of high frequency response, high motion precision, high velocity, and rapid acceleration; compensation for simulation distortion; design of a control model for the HIL simulation process; and experimental verification. Here, we propose a novel HIL simulator system with a 6-DOF 3-3 perpendicular parallel mechanism and a 3-DOF 3-PRS parallel mechanism; discover the principle of simulation distortion; present distortion compensation models for the force measurement system, dynamic response, and structural dynamics of the simulator; and provide a control model for the HIL simulation process. Two kinds of experiments were performed on the pas- sive-undamped elastic rod and the docking mechanisms to test their performances and to verify the effectiveness and usability of the HIL simulator. The HIL simulation system proposed in this paper is useful for developing space docking, berthing, refu- eling, repairing, upgrading, transporting, and rescuing technologies.

关键词： hardware-in-the-loop simulation hybrid simulation docking simulation contact dynamics parallel mechanisms simulation distortions distortions compensation

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hardware-in-the-loop simulation of interval type-2 fuzzy PD controller for uncertain nonlinear system using low cost microcontroller

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APPLIED MATHEMATICAL MODELLING 2016年第3期40卷 2346-2355页

作者： El-Nagar, Ahmad M. El-Bardini, Mohammad Menoufia Univ Fac Elect Engn Dept Ind Elect & Control Engn Menoufia 32852 Egypt

hardware-in-the-loop simulation is increasingly being required for the design, implementation and testing of control systems, where some of the control loop components are real hardware and some are simulated. Usually, the real system is software and the control system is hardware. In this study, hardware-in-the-loop simulation is used to test the performance of the interval type-2 fuzzy proportional-derivative (IT2F-PD) controller. The IT2F-PD controller is implemented using a low cost microcontroller for controlling the uncertain nonlinear inverted pendulum. The IT2F-PD controller is able to handle the system uncertainties better than their type-1 (T1) counterparts. The results of the IT2F-PD controller are compared with the TIF-PD controller. The experimental results show that the IT2F-PD controller is made significantly improved the performance over a wide range of the structural uncertainties and the effect of the external disturbances. (C) 2015 Elsevier Inc. All rights reserved.

关键词： hardware-in-the-loop simulation Interval type-2 fuzzy systems Interval type-2 fuzzy PD controller Inverted pendulum system

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