A hardware-software platform is presented, which is designed for the development and hardware-in-the-loop simulation of flying vehicle control systems. This platform ensures the construction of the mathematical model ...
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A hardware-software platform is presented, which is designed for the development and hardware-in-the-loop simulation of flying vehicle control systems. This platform ensures the construction of the mathematical model of the plant, development of algorithms and software for onboard radioelectronic equipment and ground control station, and visualization of the three-dimensional model of the vehicle and external environment of the cockpit in the simulator training mode.
A microglia is a small scale power system. The microgrid is operated in two operation modes, the grid-connected mode and the islanded mode. In the islanded mode, the frequency of a microgrid should be maintained const...
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A microglia is a small scale power system. The microgrid is operated in two operation modes, the grid-connected mode and the islanded mode. In the islanded mode, the frequency of a microgrid should be maintained constantly. For this, the balance between power supply and power demand during islanded mode should be met. In general, energy storage systems (ESSs) are used to solve power imbalance. In this paper, the frequency control effect of a Lithium-ion battery energy storage system (Li-ion BESS) has been tested on the hardware-in-the loopsimulation (HILS) system environment.
Forward collision mitigation systems (FCMS) are becoming standard in passenger car vehicles with the current trend of safety technologies development. Currently, safety systems are on the road towards widespread accep...
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Forward collision mitigation systems (FCMS) are becoming standard in passenger car vehicles with the current trend of safety technologies development. Currently, safety systems are on the road towards widespread acceptance in the commercial vehicle industry. Whereas the full Electronic Stability Control (ESC) system attempts to sense the states of the vehicle to assist the driver to maintain directional control of the vehicle, current FCMS attempts to sense the environment around the front of the vehicle and either warns the driver to react or intervenes by slowing down the vehicle autonomously. Some of the latest developments in FCMS for commercial vehicles will be discussed, together with an outlook of future systems. This study will also examine some of the common scenarios that forward collision mitigation systems can be beneficial in, especially for commercial vehicles. The scenarios will be investigated using hardwarein- loop-simulation, and the results discussed.
With the development of autonomous driving technology, the ESP (Electronic stability program) has been widely used in the vehicle field. The safety and stability of vehicle driving have always been a particularly impo...
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hardware-in-the-loop (HIL) simulation has been an integral part of automotive control unit development for many years. Due to the fact that real controllers are tested, the guaranteed real-time capability of the simul...
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hardware-in-the-loop (HIL) simulation has been an integral part of automotive control unit development for many years. Due to the fact that real controllers are tested, the guaranteed real-time capability of the simulation environment represents a prerequisite for HIL simulation. For this reason, mainly basic, empirical tire models are used in HIL simulation so far, for example based on the Magic Formula of PACEJKA. Although those basic models deliver particularly short computing times, they reach their limits both in certain vehicle dynamics situations and with specific types of tires. This article therefore illustrates the use of the real-time capable physical tire model CDTire/Realtime combined with the open integration and test platform CarMaker on a HIL system to test a brake controller. With this approach, the simulation of several use cases modeling specific vehicle dynamics situations on the HIL test bench becomes possible. The first use case presented is ABS controlled braking on an uneven road. The entire tire is subjected to vibration, although the circumferential vibrations of the belt are not taken into account with basic models. The impacts of these vibrations on the simulation results are discussed. Another possible use case is the sudden loss of pressure in a tire and the resulting ESC control intervention. This application is entirely new in HIL testing of ESC control units, since the loss of pressure could not be modeled with basic tire models until now. In the future, the applications shown will continue to enable testing of controllers in the HIL network with tires that previously could only be simulated to a limited extend with basic tire models. One example are tractor tires, whose complex vibration behavior has a significant impact on vehicle dynamics. Similar tires are used on numerous other off-highway vehicles as well. With the results presented in this paper, the use of digital twins, so-called virtual prototypes, is also possible for thes
In the continuous annealing process, strip tension is an important factorthat affects the strip quality. In order to obtain the satisfactory performance of the tension control, it is necessary to implement the simulat...
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This paper presents how hardware-in-the-loop (HIL) simulations have been used for testing during the development of ABS (Anti-lock Braking System). The Labcar system of ETAS is a popular tool for HIL tests. The vehicl...
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This paper presents how hardware-in-the-loop (HIL) simulations have been used for testing during the development of ABS (Anti-lock Braking System). The Labcar system of ETAS is a popular tool for HIL tests. The vehicle model which is built in Matlab/Simulink is downloaded to run in RTPC (Real-time PC). The Labcar software, Integration Platform (IP), can configure boards which is a link between the model and ABS ECU. In this paper, a classical logic threshold control algorithm is adopted in ABS ECU. Through Labcar Experiment Environment (EE) various parameters can be monitored and modified conveniently. The HIL test of ABS ECU is implemented on high or low - adhesion road respectively. The results show that, although response lag exists in the hydraulic braking system, the curves of velocity and pressure in wheel cylinders can be close to those on real road with proper adjustment of control parameters. So HIL simulations are invaluable, when considering the short development time required in the automotive industry.
Bench tests for existing railcars are effective for measuring their dynamic performance. However, to date it has not possible to duplicate the actual running conditions of one car to a multiple car train consist. This...
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Bench tests for existing railcars are effective for measuring their dynamic performance. However, to date it has not possible to duplicate the actual running conditions of one car to a multiple car train consist. This paper explains the development of a hardware-in-the-loop simulation (HILS) system composed of an actual car, a distributed real-time simulator, a real-time network and car end simulators that simulate the dynamic behavior of the end surfaces of adjacent car bodies. This report introduces the HILS system and shows the results of shaking tests on the actual car used to reproduce the running conditions of a three-car train in the HILS system.
Considering the characteristics of Multi Aircraft Attack and Defense (MAVAD), the problem of multisensor multitarget passive tracking is researched in this article. Firstly, to solve the problem posed by incomplete or...
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Considering the characteristics of Multi Aircraft Attack and Defense (MAVAD), the problem of multisensor multitarget passive tracking is researched in this article. Firstly, to solve the problem posed by incomplete or unknown knowledge about the intensity of the target's newborns, a practical measurement-driven method of adaptive generating newborn intensity function is adopted. Then, a method named measurement-driven iterated correction Gaussian-mixture probability hypothesis density (MD-IC-GM-PHD) filter is proposed to overcome the difficulties of the observability of targets in passive tracking. Based on the above methods, a rational and efficient approach to trajectory management is presented to complete the task of recording the historical information about target states. Finally, a hardware-in-the-loop (HIL) simulation system is implemented to verify the validity of the designed multiple target tracking (MTT) algorithms.
Physical modelling of hydraulic systems results in systems of differential and algebraic equations (DAEs) that are normally stiff. This is because they often include multiple temporal scales and present complex and no...
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Physical modelling of hydraulic systems results in systems of differential and algebraic equations (DAEs) that are normally stiff. This is because they often include multiple temporal scales and present complex and non-linear behaviour. The simulation of these stiff DAEs in real time demands small time steps, in order to achieve algorithm stability, because explicit fixed step solvers are usually applied. Modelling some fast dynamics as instantaneous changes in order to reduce the model's stiffness has been an area of research in the last few years. The description of the dynamic behaviour as piecewise continuous modes, interspersed with discrete transitions, together with the reduction in the model complexity, facilitates the use of fixed time step integration methods and thus allows real-time simulation. The main goal of this work was to obtain not too complex models in order to allow the models to be used in hardware-in-the-loop experiments. This paper proposes the use of the statecharts formalism to describe hybrid behaviour in hydraulic systems and presents semiempirical models of a valve controlled hydraulic cylinder intended to test real controller performance on a hardware-in-the-loop setup. These semiempirical models require less computing power, and it is easier to adjust the model parameters.
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