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Real-time hardware-in-the-loop simulation of time to rollover warning for heavy commercial vehicles

INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS 2014年第2期21卷 105-122页

作者： Unal, Kenan Guvenc, Levent Istanbul Okan Univ Fac Engn & Architecture Mekar Labs Istanbul Turkey

Developing anti-rollover warning systems and rollover avoidance controllers for heavy commercial vehicles continues to be a focus of research attention as a large number of fatal accidents occur due to the rollover of trucks. The dynamic rollover propensity metric known as TTR, namely the Time-To-Rollover, which estimates the time it will take until rollover if the steering is kept at the current level is used here as part of a real-time, hardwarein- the-loop rollover warning indicator system. A real-time capable and realistic fifth order linear dynamic vehicle model available in the literature and consisting of a combination of roll and yaw dynamics with velocity and steering level scheduled varying parameters is used here. The main contribution of this paper is a hardware-in-the-loop simulator for real-time TTR computation. The warning system developed in the hardware-in-the-loop simulator can then be implemented and tested in a real truck.

关键词： rollover warning hardware-in-the-loop simulation heavy commercial vehicle model vehicle model validation active safety systems

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Design and implementation of hardware-in-the-loop simulation system for testing control and operation of DC microgrid with multiple distributed generation units

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IET GENERATION TRANSMISSION & DISTRIBUTION 2017年第12期11卷 3065-3072页

作者： Meng, Jianhui Wang, Yi Wang, Chen Wang, Hui North China Elect Power Univ State Key Lab Alternate Elect Power Syst Renewabl Baoding Peoples R China

Direct current (DC) microgrid is characterised by attractive features such as high efficiency, reduced cost and needless for synchronisation. The control and operation of the DC mirogrid become significantly important with the high penetration of distributed energy resources. Therefore, development of an advanced platform for testing control and operation of the DC microgrid has attracted more and more attention nowadays. This study proposes a hardware-in-the-loop (HIL) simulation system as a new method to develop and test control algorithms and operation strategies for the DC microgrid. The proposed HIL simulation system is composed of a RT-LAB for real-time simulation, an actual controller under test, a cRIO for coordination control and the DC microgrid management system for optimal operation. Both the actual controller of key research objects and coordination control with different time scales can be tested in the proposed HIL simulation system. Hence, the platform is designed for flexibility and universality. Moreover, configuration and communication of the HIL simulation system are illustrated in this study. Finally, simulation tests are carried out to show the validation of the proposed HIL simulation platform.

关键词： distributed power generation power generation control synchronisation controllers hardware-in-the-loop simulation system testing control DC microgrid operation multiple distributed generation units direct current microgrid synchronisation distributed energy resources hardware-in-the-loop simulation RT-LAB operation strategies HIL simulation system cRIO coordination control DC microgrid management system controller

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Low-Order Model based Divergence Compensation for hardware-in-the-loop simulation of Space Discrete Contact

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2017年第1期86卷 81-93页

作者： Qi, Chenkun Gao, Feng Zhao, Xianchao Wang, Qian Ren, Anye Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Inst Aerosp Syst Engn Shanghai Shanghai 201108 Peoples R China

The divergence problem of the hardware-in-the-loop (HIL) simulation for flying objects contact in space is investigated. The HIL simulation divergence is due to time delays of the motion simulator and the force measurement system. In this study, a low-order model based divergence compensation method is proposed. The force measurement delay is modeled as a pure delay and compensated by a first-order phase lead force compensator after truncating high-order terms of the Taylor expansion. For the motion simulator, its dynamic response delay is modeled as a three-order model and compensated by a second-order phase lead position compensator. The low-order compensators are used because high-order derivatives of the signal are inaccurate and sensitive to noises. simulations and experiments are performed to verify that the proposed approach can compensate the simulation divergence effectively and satisfactorily.

关键词： hardware-in-the-loop simulation Space contact Divergence compensation Delay compensation Low-order model

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Braking control performances of a disk-type magneto-rheological brake via hardware-in-the-loop simulation

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JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES 2018年第20期29卷 3937-3948页

作者： Wang, Na Wang, Siyuan Peng, Zhen Song, Wanli Xue, Xinyu Choi, Seung-Bok Northeastern Univ Sch Mech Engn & Automat Shenyang 110819 Liaoning Peoples R China Minist Agr Nanjing Res Inst Agr Mechanizat Nanjing Jiangsu Peoples R China Inha Univ Dept Mech Engn Incheon 22212 South Korea

The aim of this work is to develop a magneto-rheological brake control system based on the hardware-in-the-loop simulation to analyze braking performances such as time response characteristics of the desired torque with the input currents. As a first step, a mathematical model of the braking torque is formulated and the optimized structure parameters of magneto-rheological brake are determined. Subsequently, the hardware-in-the-loop simulation system associated with the braking bench is established in which the software controlling the braking performances is implemented by a proportional-integral-derivative controller. Several tests to evaluate control performances of magneto-rheological brake are undertaken focusing on the decrement and increment by the input current. In addition, a quarter vehicle model equipped with the antilock brake system is tested through the hardware-in-the-loop simulation. It is shown that the antilock brake system integrated with magneto-rheological brake quickly tracks the desired slip rate resulting in stable performances.

关键词： Antilock brake system braking torque control hardware-in-the-loop simulation magneto-rheological fluid magneto-rheological brake response characteristic

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Cell-BMS validation with a hardware-in-the-loop simulation of lithium-ion battery cells for electric vehicles

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2013年第1期52卷 174-184页

作者： Dai, Haifeng Zhang, Xiaolong Wei, Xuezhe Sun, Zechang Wang, Jiayuan Hu, Feng Tongji Univ Natl Fuel Cell Vehicle & Powertrain Syst Res & En Shanghai 201804 Peoples R China Tongji Univ Sch Automot Studies Shanghai 201804 Peoples R China

Battery management system (BMS) plays a critical role in the development of hybrid electric vehicles (HEVs), plug-in hybrid vehicles (PHEVs) and battery electric vehicles (BEVs). The cell-BMS is the lower-level part of the BMS, which generally takes care of the individual cells directly, with functions mainly including voltage detection and cell balancing. In this paper, a configurable battery cell emulating system is developed to implement the hardware-in-the-loop (HIL) validation of the cell-BMS. The battery cell dynamics is simulated with a parameter-configurable equivalent circuit model consisting of three resistors, two capacitors and a SOC-controlled voltage source. The HIL system emulates battery cell dynamics to validate the function of voltage monitoring. With the bi-directional and power-amplified outputs, the system can also evaluate the performance of both active and passive cell balancing module. Meanwhile the emulated cells can be connected in series, and can be adapted to simulate some faults, e.g., over-charge and over-discharge as well. Initial testing cases using a cell-BMS prototype for the LiMnO2 based battery cells show a good performance of the system. The system standardizes function validation of the cell-BMS before the design finalization and thereby accelerates the BMS development and reduces the development costs. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Cell battery management system Equivalent circuit model hardware-in-the-loop simulation Electric vehicles Lithium-ion battery

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De-Risking the First Multivendor HVdc Project using Real-Time hardware-in-the-loop simulation: Electromagnetic Transient and Real-Time simulations are Crucial

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IEEE POWER & ENERGY MAGAZINE 2024年第5期22卷 73-86页

作者： Dennetiere, Sebastien Rault, Pierre Sharifabadi, Kamran Krajisnik, Nemanja Priebe, Torsten Hjalmarsson, Pehr RTE Int F-69330 Lyon France Equinor N-1364 Fornebu Norway Siemens Energy D-91058 Erlangen Germany Hitachi Energy S-72136 Vasteras Sweden

The Johan Sverdrup Phase 2 project is the first multivendor high-voltage direct current (HVdc) system that feeds an islanded offshore grid. As HVdc systems should operate in a coordinated way, one of the main challenges of this project was to detect, analyze, and solve interoperability issues bettween the two HVdc links. Because the first HVdc link (HVdc1) was already in operation and was specified to be the main offshore power supply, adverse interactions with the second HVdc link (HVdc2) were likely to occur.

关键词： Power supplies HVDC transmission hardware-in-the-loop simulation High-voltage techniques Real-time systems Feeds Interoperability

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FPGA-Based hardware-in-the-loop simulation of User Selection Algorithms for Cooperative Transmission Technology Over LOS Channel on Geosynchronous Satellites

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IEEE ACCESS 2022年 10卷 6071-6083页

作者： Yu, Le Zhang, Shiwei Wu, Nansong Yu, Chongchong Beijing Technol & Business Univ Sch Articial Intelligence Beijing 100048 Peoples R China China Light Ind Key Lab Ind Internet & Big Data Beijing 100048 Peoples R China Sonoma State Univ Dept Engn Sci Rohnert Pk CA 94928 USA

Distributed satellite clusters and cooperative transmission technology have been used to improve the communication capability of the geosynchronous orbit (GEO) satellites in recent years. To validate the effectiveness of distributed cooperative technology, the authors designed an information transmission system using FPGA-based hardware-in-the-loop simulation. The focus of this paper is to complete the implementation of the link layer user selection algorithm to verify that cooperative transmission techniques are feasible. This system uses a Xilinx ML605 FPGA for simulating the synchronization and exchange of data during coordinated transmission in a GEO window. The authors assumed a dual-satellite scenario in the simulation used to validate the efficacy of the satellite system. After testing the system optimized with pipelining technology, the number of clock cycles was reduced by 66%. Furthermore, tests showed the system can process multi-user channel data with signal-to-noise ratios ranging from 110dB to 195dB and could select the optimal channel. Additionally, in a case study with 10 users and 2 collocated satellites, this optimized system's operation speed is approximately 2000 times faster-after hardware acceleration-than general-purpose processors, which verifies the efficacy of using distributed cooperative transmission algorithms. Because of this, the low-cost, and the low-power features, this system is a promising candidate for an embedded real-time simulation platform for GEO satellites.

关键词： Satellite broadcasting Satellites MIMO communication hardware hardware-in-the-loop simulation Field programmable gate arrays Wideband Distributed GEO satellite hardware-in-the-loop FPGA cooperative transmission

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A mimicking technique of back pressure in the hardware-in-the-loop simulation of a fuel control unit

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simulation-TRANSACTIONS OF THE SOCIETY FOR MODELING AND simulation INTERNATIONAL 2020年第4期96卷 375-385页

作者： Yuan, Yuan Zhao, Zhiwen Zhang, Tianhong Nanjing Univ Aeronaut & Astronaut Jiangsu Prov Key Lab Aerosp Power Syst 29 Yudao St Nanjing 210016 Jiangsu Peoples R China Cranfield Univ Sch Aerosp Transport & Mfg Ctr Prop Engn Cranfield Beds England

In the hardware-in-the-loop (HIL) simulation of the fuel control unit (FCU) for aero-engines, the back pressure has a great impact on the metered fuel, thus influencing the confidence of the simulation. During the practical working process of an aero-engine, the back pressure of the FCU is influenced by the combined effect of the pressure of the combustion chamber, the resistance of the spray nozzles, and the resistance of the distribution valve. There is a need to study the the mimicking technique of FCU back pressure. This paper models the fuel system of an aero-engine so as to reveal the impact of FCU back pressure on the metered fuel and come up with a scheme to calculate the equivalent FCU back pressure. After analyzing the requirements for mimicking the pressure, an automatic regulating facility is designed to adjust the FCU back pressure in real time. Finally, experiments are carried out to verify its performance. Results show that the mimicking technique of back pressure is well suited for application in HIL simulation. It is able to increase the confidence of the simulation and provide guidance to the implementation of mimicking the FCU back pressure.

关键词： Back pressure hardware-in-the-loop simulation fuel control unit aero-engine mimicking technique

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Force-based delay compensation for hardware-in-the-loop simulation divergence of 6-DOF space contact

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2019年第1期233卷 151-165页

作者： Wang, Qian Qi, Chenkun Gao, Feng Zhao, Xianchao Ren, Anye Sun, Qiao Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai Peoples R China Inst Aerosp Syst Engn Shanghai Shanghai Peoples R China

The contact process of a space docking device needs verification before launching. The verification cannot only rely on the software simulation since the contact dynamic models are not accurate enough yet, especially when the geometric shape of the device is complex. hardware-in-the-loop simulation is a choice to perform the ground test, where the contact dynamic model is replaced by a real device and the real contact occurs. However, the hardware-in-the-loop simulation suffers from energy increase and instability since time delay is unavoidable. The existing delay compensation methods are mainly focused on a uniaxial or three-dimensional contact. In this paper, a force-based delay compensation method is proposed for the hardware-in-the-loop simulation of a six degree-of-freedom space contact. A six degree-of-freedom dynamic model of the spacecraft motion is derived, and a six degree-of-freedom delay compensation method is proposed. The delay is divided into track delay and measurement delay, which are compensated individually. Experiment results show that the proposed delay compensation method is effective for the six degree-of-freedom space contact.

关键词： hardware-in-the-loop simulation space docking 6-DOF contact time delay delay compensation

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Parallel implementation of the auxiliary power system model of the electric locomotive for hardware-in-the-loop simulation

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IET POWER ELECTRONICS 2019年第13期12卷 3521-3526页

作者： Liu, Chen Song, Yumei Bai, Hao Ma, Rui Guo, Xizheng Gao, Fei Univ Bourgogne Franche Comte FEMTO ST Inst UTBM CNRS Rue Ernest Thierry Mieg F-90010 Belfort France Shangdong Univ Weihai Sch Mech & Elect Engn FEMTO ST Inst 180 Wenhuaxi Rd Weihai 264209 Shangdong Peoples R China Northwestern Polytech Univ Sch Automat FEMTO ST Inst 127 West Youyi Rd Xian 710072 Shaanxi Peoples R China Beijing Jiaotong Univ Inst Power Elect & Elect Tract FEMTO ST Inst 3 Shangyuancun Haidian Dist Beijing 100044 Peoples R China

hardware-in-the-loop simulation (HiLs) is an enabling technology for analysing and testing the control unit of high-power electronic system. However, the main difficulty remains in the design of a HiLs platform for a control unit with a complex electronic system. With the attempt to improve this issue, this study presents the HiLs setup utilising the dSPACE simulator under the background of the auxiliary power system of the electric locomotive. A massive parallel implementation approach for modelling the auxiliary power system is proposed for the implementation on field programmable gate arrays (FPGAs). The proposed method exploits the large response time of the auxiliary model to: (i) decouple the complex system into independent sub-systems, (ii) partition the AC machine model solution from the rest power electronic system using the FPGA/CPU co-mix structure, and (iii) adopt nanoseconds range simulation time step. The whole HIL system can be used to evaluate both the hardware and software performance of the physical auxiliary control unit. The real time simulation results under steady-state and transient conditions demonstrate modelling accuracy and provide detailed insight into the development of this electrical powertrain.

关键词： electric locomotives power electronics control engineering computing mathematical analysis field programmable gate arrays power transmission (mechanical) complex electronic system HiLs setup dSPACE simulator electric locomotive massive parallel implementation approach auxiliary model complex system independent sub-systems AC machine model solution rest power electronic system HIL system software performance physical auxiliary control unit time simulation results modelling accuracy auxiliary power system model hardware-in-the-loop simulation high-power electronic system HiLs platform

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