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Force and Moment Compensation Method Based on Three Degree-of-Freedom Stiffness-Damping Identification for Manipulator Docking hardware-in-the-loop simulation system

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IEEE ACCESS 2018年 6卷 63452-63467页

作者： Yu, Simiao Han, Junwei Yang, Yu Xu, Dongmei Qu, Zhiyong Harbin Inst Technol Sch Mechatron Engn Harbin 150001 Heilongjiang Peoples R China Xian Univ Sci & Technol Sch Mech Engn Xian 710054 Shaanxi Peoples R China

The space manipulator docking hardware-in-the-loop (HIL) simulation system is an important means to simulate the real space docking on the ground. In this paper, a space manipulator docking HIL system is designed, the space manipulator docking dynamics model is established and the motion process of space docking is simulated by a six degree-of-freedom (DOF) parallel robot. Delays exist in the force sensor and the parallel robot of the HIL system and are unavoidable;which not only affect the accuracy of the HIL system simulation, but also lead to instability of the system, resulting in docking failure and damage to the docking mechanism (DM). In view of the contact characteristics of DM, a force and moment compensation method based on three DOF stiffness-damping identification is proposed in this paper. Considering the time-varying characteristics of multi-DOF contact parameters, on-line identification is applied to identify the stiffness and damping in three perpendicular directions. Then a six DOF compensation model is established to compensate the deviation of contact force and moment caused by the delays, so as to improve the stability and reproduction accuracy of the system. Compared with the existing single DOF compensation researches, the considering of contact parameters and the model of compensation in this paper are all applicable to multi-DOF system. Moreover, the compensation model doesn't need the model and delay characteristics of the parallel robot, so it is a model-free compensation. The effectiveness of the proposed compensation method is verified by simulation and experiment.

关键词： Manipulator docking hardware-in-the-loop simulation system docking dynamics three DOF stiffness-damping identification force and moment compensation

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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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Design and implementation of laser target simulator in hardware-in-the-loop simulation system based on LabWindows/CVI and RTX 7

Design and implementation of laser target simulator in hardw...

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Conference on Semiconductor Lasers and Applications VII

作者： Tong, Qiujie Wang, Qianqian Li, Xiaoyang Shan, Bin Cui, Xutai Li, Chenyu Peng, Zhong Beijing Inst Technol Sch Optoelect Beijing 100081 Peoples R China Huayin Weapon Test Ctr China Xian 714200 Peoples R China

ISBN: (数字)9781510604544

ISBN: (纸本)9781510604537;9781510604544

In order to satisfy the requirements of the real-time and generality, a laser target simulator in semi-physical simulation system based on RTX+LabWindows/CVI platform is proposed in this paper. Compared with the upper-lower computers simulation platform architecture used in the most of the real-time system now, this system has better maintainability and portability. This system runs on the Windows platform, using Windows RTX real-time extension subsystem to ensure the real-time performance of the system combining with the reflective memory network to complete some real-time tasks such as calculating the simulation model, transmitting the simulation data, and keeping real-time communication. The real-time tasks of simulation system run under the RTSS process. At the same time, we use the LabWindows/CVI to compile a graphical interface, and complete some non-real-time tasks in the process of simulation such as man-machine interaction, display and storage of the simulation data, which run under the Win32 process. Through the design of RTX shared memory and task scheduling algorithm, the data interaction between the real-time tasks process of RTSS and non-real-time tasks process of Win32 is completed. The experimental results show that this system has the strongly real-time performance, highly stability, and highly simulation accuracy. At the same time, it also has the good performance of human-computer interaction.

关键词： hardware-in-the-loop simulation system RTX Reflective memory network laser target simulator LabWindows/CVI

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Near-field uniformity analysis and compensation for finite-sized beam combiner with the asymmetric layout

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IET MICROWAVES ANTENNAS & PROPAGATION 2020年第13期14卷 1671-1681页

作者： Hao, Kaizi Li, Zhuo Wang, Xin Zhou, Lang Wang, Yiting Beijing Inst Technol Sch Opt & Photon Beijing 100081 Peoples R China Beijing Key Lab Precis Optoelect Measurement Inst Beijing 100081 Peoples R China

In a hardware-in-the-loop simulation system, the insertion of an asymmetric layout beam combiner will seriously affect the near-field uniformity. In this study, the effects of the aperture shape, transverse distance and size of the beam combiner on the near-field uniformity were analysed. The square beam combiner with a transverse distance of 0.51 m and a size of 1.05 m x 1.05 m was regarded as the optimal design, but it still cannot meet the test requirements. In order to obtain excellent near-field uniformity, an asymmetric Uniform + Linear taper compensation method was proposed. The maximum values of the amplitude fluctuation (E-pv) and phase ripple (phi(pv)) decreased dramatically from 2.62 dB and 16.79 degrees to 0.78 dB and 7.42 degrees, respectively. Asymmetric Uniform + Linear taper was achieved through serrating the edge of the beam combiner. When the number of serrations N was 22, E-pv and phi(pv) were <0.83 dB and 7.50 degrees, respectively, which indicated that the near-field uniformity can be significantly improved by asymmetric Uniform + Linear taper.

关键词： laser beams finite-sized beam combiner hardware-in-the-loop simulation system asymmetric layout beam combiner transverse distance square beam combiner near-field uniformity analysis aperture shape asymmetric uniform-linear taper compensation method amplitude fluctuation phase ripple distance 0 51 m

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Study on the model-based development approach for the electronically controlled system of a high-pressure common-rail diesel engine

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2006年第D3期220卷 359-366页

作者： Yu, ST Zhou, XL Lin, Y Gong, YM Zhuo, B Shanghai Jiao Tong Univ Inst Automot Elect Technol Shanghai 200030 Peoples R China

A model-based V-cycle development approach is investigated in this paper. The control algorithms are modelled, simulated, and optimized using Matlab/Simulink/Stateflow tools. TargetLink is used to translate the control algorithm model made in Matlab/Simulink/ Stateflow into embedded production ANSI C codes. Based on the controller of a high-pressure common-rail electronic control system for a diesel engine (ECU) and the hardware-in-the-loop simulation system (HILSS), the codes of control algorithms can be tested and modified again. The results of the investigation show that both Simulink and TargetLink are effective development tools that can guarantee control precision and rationality of control algorithms, and can also help to shorten the development time. The Simulink, TargetLink, ECU, HILSS, and calibration tools form an effective V-cycle development platform for the control algorithm of a high-pressure common-rail electronic control system.

关键词： Matlab/Simulink/Stateflow TargetLink V-cycle hardware-in-the-loop simulation system high-pressure common-rail electronic control system

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Distributed equalisation strategy for multi-battery energy storage systems

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JOURNAL OF ENGINEERING-JOE 2019年第16期2019卷 1986-1990页

作者： Fan, Feilong Tai, Nengling Huang, Wentao Zheng, Xiaodong Fan, Chunju Shanghai Jiao Tong Univ Sch Elect Informat & Elect Engn Shanghai Peoples R China

Multi-battery energy storage systems (MBESSs) are widely adopted to overcome the uncertainty problem of renewable energy sources. However, state-of-charge (SOC) imbalance issue of MBESSs brings great challenges to the optimal dispatching strategy and the lifetime management strategy for the MBESS. This study proposes a distributed equalisation strategy for the MBESSs to solve the stated problem. An equitable operation optimisation model is proposed in the distributed equalisation strategy. The equitable optimisation model can be simplified as a convex quadratic optimisation problem. An equitable approximation method is utilised to solve the convex quadratic optimisation problem according to the Karush-Kuhn-Tucker optimality conditions. Based on the equitable approximation method, the SOC balance process is distributed into different iteration steps. The iteration of the SOC balance process is implemented by the communication system connecting the distributed management systems (DMSs). The distributed SOC balance step is implemented by the DMSs of the batteries. The proposed strategy is validated by a hardware-in-the-loop simulation system based on the RT-LAB. Test results show that the proposed strategy ensure the SOC balance and improve the robustness of the MBESS.

关键词： battery management systems power generation dispatch convex programming quadratic programming renewable energy sources secondary cells iterative methods approximation theory convex quadratic optimisation problem equitable approximation method SOC balance process distributed management systems distributed SOC balance step distributed equalisation strategy multibattery energy storage systems uncertainty problem renewable energy sources state-of-charge imbalance issue optimal dispatching strategy lifetime management strategy equitable operation optimisation model Karush-Kuhn-Tucker optimality conditions MBESS iteration steps hardware-in-the-loop simulation system RT-LAB DMS

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Low energy consumption depth control method of self-sustaining intelligent buoy

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Journal of Measurement Science and Instrumentation 2021年第1期12卷 74-82页

作者： ZHENG Di XU Jiayi LI Xingfei LI Hongyu State Key Laboratory of Precision Measurement Technology and Instruments Tianjin University Tianjin 300072 China Qingdao Institute for Ocean Technology of Tianjin University Qingdao 266235 China College of Ocean Science and Engineering Shandong University of Science and Technology Qingdao 266590 China

Aiming at the contradiction between the depth control accuracy and the energy consumption of the self-sustaining intelligent buoy,a low energy consumption depth control method based on historical array for real-time geostrophic oceanography(Argo)data is *** known from the buoy kinematic model,the volume of the external oil sac only depends on the density and temperature of seawater at hovering ***,we use historical Argo data to extract the fitting curves of density and temperature,and obtain the relationship between the hovering depth and the volume of the external oil *** algorithm is used to carry out the optimal energy consumption motion planning for the depth control process,and the specific motion strategy of depth control process is *** with dual closed-loop fuzzy PID control method and radial basis function(RBF)-PID method,the proposed method reduces energy consumption to 1/50 with the same ***,a hardware-in-the-loop simulation system was used to verify this *** the error caused by fitting curves is not considered,the average error is 2.62 m,the energy consumption is 3.214×10^(4)J,and the error of energy consumption is only 0.65%.It shows the effectiveness and reliability of the method as well as the advantages of comprehensively considering the accuracy and energy consumption.

关键词： self-sustaining intelligent buoy low energy consumption depth control Argo data genetic algorithm hardware-in-the-loop simulation system

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