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hardware-in-the-loop simulator for research on fault tolerant control of electrohydraulic actuators in a flight control application

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MECHATRONICS 2009年第7期19卷 1067-1077页

作者： Karpenko, Mark Sepehri, Nariman Univ Manitoba Dept Mech & Mfg Engn Winnipeg MB R3T 5V6 Canada

Testing fault tolerant control and diagnosis systems for hydraulic actuators under operating conditions that closely resemble the intended application is an important part of control system verification. This paper describes a hardware-in-the-loop (HIL) simulation framework that enables an experimental hydraulic actuator to be exercised as a flight control actuator against the numerical simulation of a high-performance jet aircraft. The HIL simulator is centered around a state-of-the-art hydraulic test bench that can experimentally simulate many of the common component faults in a servovalve driven actuator circuit. A second experimental hydraulic ram is used to create a wide range of in-flight operating conditions by replicating the aerodynamic load disturbance that is transmitted through the control surface hinge during flight maneuvers. The goal of the HIL simulator is to develop and objectively test novel fault tolerant control and diagnostics algorithms for fluid power actuators and to investigate, for the first time, the complex interaction between faulty flight actuator hardware and the overall aircraft performance. An overview of the HIL simulation architecture, which is executed on four networked desktop computers, is given and the hardware implementation is described. Issues related to the design of the force control system around the load emulator actuator are also discussed. The results of several HIL case studies, including a human-in-the-loop simulation, are presented to demonstrate the functionality of the HIL simulation environment. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Fault tolerant control design hardware-in-the-loop simulator Fluid power systems Flight actuators

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hardware-in-the-loop simulator of an off-road vehicle electrohydraulic steering system

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TRANSACTIONS OF THE ASAE 2000年第6期43卷 1323-1330页

作者： Zhang, Q Reid, JF Wu, D Univ Illinois Dept Agr Engn Urbana IL 61801 USA

The design of electrohydraulic (E/H) steering control systems for off-road vehicles should consider the characteristics of physical components, steering system dynamics, and a variety of other factors including vehicle dynamics and soil stiffness. A computer-controlled hardware-in-the-loop (HIL) E/H steering simulator has been developed as a tool for steering dynamics and controller research. The HIL simulator integrated a dynamic model of the steering system, an actual E/H steering actuator and control interface, and an independently controlled steering loader This article describes the design of the HIL, simulator, the development of dynamic model of a tractor E/H steering system, and the validation of this system. Results indicated that the HIL simulator was a valuable tool for investigating the dynamics and interface characteristics of E/H steering systems and evaluating real-time steering controller performance in a laboratory recreated environment for off-road vehicles with loading conditions representative of the field application. The HIL simulator provided an effective tool for E/H steering dynamics research, E/H steering system design and E/H steering controller development.

关键词： steering systems electrohydraulics controllers off-road vehicles hardware-in-the-loop simulator

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Modelling and identification of a hydrostatic transmission hardware-in-the-loop simulator

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INTERNATIONAL JOURNAL OF VEHICLE DESIGN 2004年第1期34卷 52-64页

作者： Wu, K Zhang, Q Hansen, A Univ Illinois Dept Agr Engn Urbana IL 61801 USA

hardware-in-the-loop (HIL) simulators are effective research and development tools in many applications. A hydrostatic transmission HIL simulator, consisting of dynamic models of the transmission system and the hardware of a variable-displacement axial-piston pump and a fixed-displacement gear motor, was developed for supporting vehicle transmission system research. This paper reports the identification of the system models of the HIL simulator. A linear parameter-varying (LPV) approach was used to model the simulator, and a swept-sine technique was used for identifying the models in the frequency domain. The identified model could cover the entire operating range by adopting measured or estimated parameters at corresponding steady state operating points, which was verified through a series of step and frequency response tests at different operating points. An acceptable correlation between the experimental and simulation results was observed.

关键词： vehicle transmission hydrostatic transmission hardware-in-the-loop simulator simulator model system identification

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Design and implementation of an intelligent digital pitch controller for digital hydraulic pitch system hardware-in-the-loop simulator of wind turbine

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INTERNATIONAL JOURNAL OF GREEN ENERGY 2021年第1期18卷 17-36页

作者： Narayanan, V. Lakshmi Ramakrishnan, R. Vellore Inst Technol Mechatron Lab Dept Design & Automat GDN 137Vellore Campus Vellore 632014 Tamil Nadu India

Digital hydraulics is a potential technology for the Hydraulic Pitch System (HPS) in Wind Turbine (WT). Digital Hydraulics Pitch System (DHPS) uses Digital Flow Control Units (DFCU) to develop the precise pitching action. In this paper, a novel Intelligent Digital Pitch Controller (IDPC) is proposed. The proposed controller is designed and implemented on a developed lab-scale DHPS hardware-in-the-loop (HIL) simulator. The various parameters of DHPS-hardware were designed using the bottom-up design methodology. The IDPC comprises Machine Learning (ML)-based WECS and DHPS controllers in the outer and inner loop respectively. HIL simulations were conducted with the implemented IDPC. The ML-based WECS controller predicts the reference pitch angle close to its desired value. The ML-based DHPS controller predicts the states of DFCU to develop real-time pitching action in DHPS-hardware. Several case studies were conducted to validate the effectiveness of the proposed IDPC. A study shows that IDPC controlled DHPS exhibits better performance than an ML-Proportional Integral (PI) controlled HPS with proportional flow control valve. Subsequently, the performance of the IDPC is compared with PI-ML cascade controller. This study shows that the Maximum Absolute Error (MAE) between the generator speed and its rated speed is 0.87% and 19.29% for the proposed controller and PI-ML cascade controller, respectively. Similarly, MAE (error between generator torque and its rated torque) of torque is 0.85% and 5.46% for the proposed controller and PI-ML cascade controller, respectively. Thus, the implementation of the IDPC develops optimal power with minimal speed/torque fluctuations.

关键词： Intelligent digital pitch controller hardware-in-the-loop simulator digital hydraulics pitch system machine learning optimal power wind turbine

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Adaptive control to actively damp bistabilities in highly interrupted turning processes using a hardware-in-the-loop simulator

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JOURNAL OF VIBRATION AND CONTROL 2023年第5-6期29卷 1141-1150页

作者： Sahu, Govind N. Law, Mohit Wahi, Pankaj Indian Inst Technol Kanpur Dept Mech Engn Machine Tool Dynam Lab Kanpur 208016 Uttar Pradesh India Indian Inst Technol Kanpur Dept Mech Engn Kanpur Uttar Pradesh India

Interruptions in turning make the process forces non-smooth and nonlinear. Smooth nonlinear cutting forces result in the process of being stable for small perturbations and unstable for larger ones. Re-entry after interruptions acts as perturbations making the process exhibit bistabilities. Stability for such processes is characterized by Hopf bifurcations resulting in lobes and period-doubling bifurcations resulting in narrow unstable lenses. Interrupted turning remains an important technological problem, and since experimentation to investigate and mitigate instabilities are difficult, this paper instead emulates these phenomena on a controlled hardware-in-the-loop simulator. Emulated cutting on the simulator confirms that bistabilities persist with lobes and lenses. Cutting in bistable regimes should be avoided due to conditional stability. Hence, we demonstrate the use of active damping to stabilize cutting with interruptions/perturbations. To stabilize cutting with small/large perturbations, we successfully implement an adaptive gain tuning scheme that adapts the gain to the level of interruption/perturbation. To facilitate real-time detection of instabilities and their control, we characterize the efficacy of the updating scheme for its dependence on the time required to update the gain and for its dependence on the levels of gain increments. We observe that higher gain increments with shorter updating times result in the process being stabilized quicker. Such results are instructive for active damping of real processes exhibiting conditional instabilities prone to perturbations.

关键词： Interrupted turning bistable chatter hardware-in-the-loop simulator active damping adaptive control

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Emulating bistabilities in turning to devise gain tuning strategies to actively damp them using a hardware-in-the-loop simulator

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CIRP JOURNAL OF MANUFACTURING SCIENCE AND TECHNOLOGY 2021年 32卷 120-131页

作者： Sahu, G. N. Jain, P. Wahi, P. Law, M. Indian Inst Technol Kanpur Dept Mech Engn Machine Tool Dynam Lab Kanpur 208016 Uttar Pradesh India Indian Inst Technol Kanpur Dept Mech Engn Kanpur 208016 Uttar Pradesh India

Bistabilities in turning are characterized by the process being stable for small perturbations and unstable for larger ones. These bistabilities occur due to nonlinearities in cutting force characteristics. Characterizing these bistabilities can guide selection of cutting parameters to lie outside these zones of conditional instabilities. However, if cutting is targeted in the bistable regions, or in regions that are globally unstable, active damping methods may need to be pursued to improve the stability envelopes. Since gain tuning for active damping of chatter vibrations is usually based on linear stability analysis, it would be useful to know if those gains are adequate for damping chatter in the presence of bistabilities that occur in processes prone to strong perturbations. However, experimentation on machines to investigate these bistabilities and/or tune gains to meet targeted productivity levels with active damping is difficult due to the destructive nature of chatter. This paper hence discusses the use of a hardware-inthe-loop (HiL) simulator to emulate bistabilities and to serve as a test bench for gain tuning in the presence of bistabilities. The HiL simulator has a hardware layer comprising a flexure representing a flexible workpiece, and two actuators. One emulates the cutting force calculated in real-time in the software layer. Another serves as the active damper operating with a velocity feedback control law. Bistabilities for three different nonlinear force models are experimentally illustrated on this HiL simulator. We show that active damping can stabilize these bistable regions. Since the width of the bistable regions depend on the nonlinear force characteristics, our investigations reveal that gains must be tuned for the force model and the static chip thickness under consideration. These results are useful and can instruct active damping strategies during more realistic cutting processes with nonlinear force characteristics that exhibit conditi

关键词： Nonlinear cutting force Bistable Chatter hardware-in-the-loop simulator Active damping

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hardware-in-the-loop simulator for emulation and active control of chatter

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hardwareX 2022年 11卷 e00273页

作者： Sahu, Govind N. Law, Mohit Indian Inst Technol Kanpur Dept Mech Engn Machine Tool Dynam Lab Kanpur 208016 Uttar Pradesh India

Machine tool cutting performance is limited by the onset of regenerative chatter vibrations. Chatter damages the machine tool system and must be avoided. Efficacy of models guiding circumvention of chatter in actual industrial contexts remains restricted due to cutting process nonlinearities and due to uncertainties in dynamics of machine tools. To verify chatter models in the presence of nonlinearities and uncertainties and to explore active control of chatter, a mechatronic hardware-in-the-loop (HiL) simulator is presented in this paper. hardware layer of the simulator has a flexure approximating a flexible workpiece and two actuators to emulate cutting forces and apply active damping forces. Software layer involves control architecture that is to be emulated on the hardware layer. Since HiL simulators offer a non-destructive, repeatable, and safe platform for emulations and active control of chatter, and because this paper presents the design of a validated simulator with all accompanying source files along with build and operating instructions, the research community can build such simulators to investigate other complex chatter phenomena and can also use it as a pedagogical tool. Learnings from building and using such simulators can also be leveraged to characterize and solve problems across other engineering domains. (c) 2022 The Authors. Published by Elsevier Ltd.

关键词： hardware-in-the-loop simulator Chatter Turning Stability Active damping

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A hardware-in-the-loop simulator for Demand Response Energy Management in Industrial Facilities

A Hardware-in-the-loop Simulator for Demand Response Energy ...

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Workshop on Modeling and Simulation of Cyber-Physical Energy Systems (MSCPES)

作者： Luo, Zhe Alam, Musharraf Hong, Seung Ho Ding, Yuemin Xu, Aidong Kwon, Daehyun Hanyang Univ Dept Elect & Syst Engn Ansan 426791 South Korea Shenyang Inst Automat Ind Control & Syst Lab Shenyang Peoples R China LSIS Automat R&D Ctr Integrated Network & Software Res Team Anyang South Korea

ISBN: (纸本)9781479973583

Demand response (DR) used in smart grid (SG) can enhance the reliability of the power system as well as reduce the energy costs for customers. One of the major consumers of electrical energy is industry. In this study, we develop a hardware-in-the-loop (HIL) simulator to demonstrate how to practically implement DR in industrial facilities. The HIL simulator includes an energy management system (EMS), a monitoring and control system (MCS), an industrial Ethernet backbone network based on RAPIEnet protocol, and a wireless field network based on ISA100.11a protocol. The results show that the electricity demand of industrial facilities can be shifted from peak to off-peak demand periods to improve the reliability of the electrical grid.

关键词： demand response smart grid hardware-in-the-loop simulator industrial facilities

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A hardware-in-the-loop dynamics simulator for motorcycle rapid controller prototyping

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CONTROL ENGINEERING PRACTICE 2006年第12期14卷 1467-1476页

作者： Lin, Chiu-Feng Tseng, Chyuan-Yow Tseng, Tsai-Wen Natl Pingtung Univ Sci & Technol Dept Vehicle Engn Neipu 91207 Pingtung Taiwan

The purpose of this research is to develop an innovative hardware-in-the-loop simulator for the purpose of motorcycle power train rapid controller prototyping. Proposed control algorithms can be validated using the developed setup. Such an in-lab validation saves time and development cost and thus is preferable during power train controller development process. The developed simulator includes an engine, a transmission, and a rear wheel from a real motorcycle. A powder brake is rigidly coupled to the rear wheel for road loading generation. A central computer is used to control the operation of the system and the measurement of system dynamics variables. An xPC system is also integrated in the system to provide the feasibility of power train control algorithm rapid prototyping. Comparison between field tests and simulation results show that the simulator can be used to evaluate the performance of different control algorithms for controller rapid prototyping in the laboratory. An example of power train control algorithm development featuring engine fuel injection control using the above rapid prototyping setup is also described. (c) 2006 Elsevier Ltd. All rights reserved.

关键词： hardware-in-the-loop simulator motorcycle dynamics bond-graph brake control rapid controller prototyping

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Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2015年第4期229卷 666-681页

作者： Zebenay, M. Boge, T. Krenn, R. Choukroun, D. German Space Operat Ctr German Aerosp Ctr D-82234 Wessling Germany German Aerosp Ctr Inst Syst Dynam & Control Wessling Germany Delft Univ Technol Fac Aerosp Engn Delft Netherlands Ben Gurion Univ Negev IL-84105 Beer Sheva Israel

The European Proximity Operations simulator of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system working in closed loop with a force/torque feedback signal. Inherent delays in the tracking system combined with typical high stiffness at contact challenge the stability of the closed-loop system. The proposed concept of operations is hybrid: the feedback signal is a superposition of a measured value and of a virtual value that can be tuned in order to guarantee a desired behavior. This paper is concerned with an analytical study of the system's closed-loop stability, and with an experimental validation of the hybrid concept of operations in one dimension. The robotics simulator is modeled as a second-order loop-delay system and closed-form expressions for the critical delay and associated frequency are derived as a function of the satellites' mass and the contact dynamics stiffness and damping parameters. A numerical illustration sheds light on the impact of the parameters on the stability regions. A first-order Pade approximation provides additional means of stability investigation. Experiments were performed and test results are described for varying values of the mass and the damping coefficients. The empirical determination of instability is based on the coefficient of restitution and on the observed energy. There is a very good agreement between the critical damping values predicted by the analysis and observed during the tests. The contact duration shows also a very good fit between analysis and experiment. In addition, results from a one-dimensional contact experiment carried on an air-floating testbed are successfully emulated using the proposed hybrid docking simulator. This illustrates the flexibility of the hybrid simulator, where various contact dynamics can be emulated without changing any hardware elements.

关键词： Satellite docking hardware-in-the-loop simulator contact dynamics loop-delay system stability analysis experimental validation

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