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A Framework for Development of Satellite Attitude Control Algorithms

JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS 2014年第6期25卷 657-667页

作者： Costa e Silva, Marsil de Athayde de Figueiredo, Helosman Valente Nicolas Boglietti, Benjamin Gilles Saotome, Osamu Villani, Emilia Kienitz, Karl Heinz Inst Tecnol Aeronut Grad Program Mech & Aeronaut Engn Sao Jose Dos Campos SP Brazil Inst Tecnol Aeronut Div Engn Eletron Sao Jose Dos Campos SP Brazil Inst Tecnol Aeronut Div Engn Mecan Praca Marechal Eduardo Gomes50 Vila Acacias Sao Jose Dos Campos SP Brazil Equatorial Sistemas SA Sao Jose Dos Campos SP Brazil

This paper proposes a framework that combines three different environments with decreasing level of abstraction: model-in-the-loop, software-in-the-loop and hardware-in-the-loop. The purpose of the framework is to support the early detection of errors in the development of satellite control systems. Associated with the framework, the paper presents the MuSat simulator, a testbed for the development of satellite attitude controllers. MuSat is composed of a sphere that rotates with three degrees of freedom, supported by an air bearing system. The on-board computer of MuSat follows the integrated modular architecture, proposed for avionics systems. In order to illustrate both the framework and the testbed, we present the development of a non-linear control scheme. Results indicate that the designed control system fulfils the specified requirements. The example highlights the contribution of each environment of the framework for control system verification.

关键词： Model-based development software-in-the-loop Hardware-in-the-loop Attitude control simulator

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University of Waterloo's Hydrogen Fuel Cell Choice Meets the Reality of Canada's Winter by Using Model-Based Design

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SAE INTERNATIONAL JOURNAL OF ENGINES 2009年第1期1卷 346-351页

作者： Hua, C. Haliburton, C. Wilhelm, E. J. Mendez, C. J. Stevens, M. B. Fowler, M. Fraser, R. A. Univ Waterloo Alternat Fuels Team Waterloo ON Canada

Developing a hydrogen fuel cell vehicle in three years is not a trivial task for any group of engineers. It is even worse still when you consider the climate it will be subjected to in Canada. For four months of the year, our vehicle remains inside of a heated garage, away from the cold ice and snow. Actual vehicle data is collected during the eight warm months of the year to construct empirical models. software-in-the-loop and hardware-in-the-loop methodologies were used to tune our vehicles using the models that were constructed using actual vehicle data. Without MATLAB and Simulink from The MathWorks, our winters would be a lot less productive. In this paper, you will find a brief overview of our vehicle's architecture as well as how model-based design was valuable to our design and inplementation of our vehicle.

关键词： Model-based design MATLAB Simulink software-in-the-loop Hardware-in-the-loop Component-in-the-loop

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A Credibility Assessment Approach for Scenario-Based Virtual Testing of Automated Driving Functions

IEEE OPEN JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS

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IEEE OPEN JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS 2022年 3卷 45-60页

作者： Stadler, Christoph Montanari, Francesco Baron, Wojciech Sippl, Christoph Djanatliev, Anatoli AUDI AG Automated Driving Dept D-85045 Ingolstadt Germany Friedrich Alexander Univ Erlangen Nuremberg Dept Comp Sci Comp Networks Chair D-91058 Erlangen Germany AUDI AG Pre Dev Automated Driving Dept D-85045 Ingolstadt Germany

An immense test space is pushing the development and testing of automated driving functions from real to virtual environments. The virtual world is provided by interconnected simulation models representing sensors, vehicle dynamics, and both static and dynamic environment. For the virtual validation of automated driving, special attention must be paid to the simulation's credibility, which can be impaired by inappropriate or inaccurate simulation models and tools. Therefore, in this work a method is proposed to assess the credibility of simulation-based testing for automated driving. The approach allows a qualitative and relatively quantitative comparisons between scenarios as well as between different simulation setups. Therefore, several uni- and multivariate metrics are applied towards a scoring of similarity of the behavior between simulation and real test drive. This is achieved by using ground truth data in form of simulation scenarios from real world measurement data. In this way, the virtual automated vehicle encounters the same conditions and surroundings than its counterpart in the real world for evaluating their similarity. The practical applicability of the proposed credibility assessment approach is demonstrated in a case study, in which the credibility of an exemplary simulation-based test bench is inferred.

关键词： Testing Data models Standards Roads Computational modeling Vehicle dynamics software Automated driving software-in-the-loop scenario-based approach virtual testing virtual development virtual validation computer simulation automotive engineering intelligent vehicles automated vehicles

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A Real-Time-Capable Simulation Model for OFF-Highway Applications Considering Soft Soil

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SAE INTERNATIONAL JOURNAL OF COMMERCIAL VEHICLES 2021年第3期14卷 351-364页

作者： Schulte, Frank Zubert, Thomas Roeser, Dennis Meyer, Norbert Kluge, Torsten dSPACE GmbH Berlin Germany

This article describes the real-time simulation of a tire model for the off-highway sector. The off-highway area is characterized by soft surfaces. The additional deformation of the ground can result in more complex interactions between the tires and ground than in the on-highway area. The basics for these relationships are explained using normal and shear stress models. Aspects such as elastic tires, sinking due to slip, and multipass are also described. It is explained how soft soil modeling is used by a height field model to calculate the deformations of the soil and the resulting tire forces. Particular emphasis is placed on the calculation time and the numerical stability. The implementation in an existing real-time-capable vehicle model is described, which is important to provide a comprehensive simulation solution. During the validation it could be shown that the implemented height field can correctly map the soft soil properties. In combination with the developed tire model, realistic longitudinal, lateral, and vertical dynamics of the entire vehicle could be demonstrated.

关键词： Soft Soil Terrain Vehicle Dynamics Real-time simulation software-in-the-loop Hardware-in-the-loop

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MIL, SIL and PIL Implementation for Closed loop Control ofFlyback Converter

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GAZI UNIVERSITY JOURNAL OF SCIENCE 2024年第2期37卷 701-716页

作者： Ali, Muhammad Sen, Ismet Ozturk, Salih Baris Avci, Emre Istanbul Tech Uni Dep Elect Engn TR-34469 Istanbul Turkiye Duzce Uni Dep Elect & Elect Engn TR-81620 Duzce Turkiye

Power electronic systems are rapidly evolving;thus,effective prototyping methods are required to test control algorithms and assess system performance prior to hardware implementation. This research suggests a Model-In-The-loop (MIL), software-in-the-loop (SIL), and Processor-In-The-loop (PIL) methodologies-based complete prototyping strategy for flyback converters using the TIF28069M Launchpad kit. These techniques can be combined to evaluate control strategies accurately and quickly, speeding up design cycles and enhancing system reliability. The proposed prototyping platform is presented in this work, along with a thorough explanation of each prototyping stage and its associated advantages. The effectiveness of the suggested approachfor 50W rated power flyback converter in terms of quick algorithm development, system simulation, real-time control implementationand controller design accuracy isanalyzed andshown by experimental *** results show that the performance of the designed controller for the flyback converter is almost the same as in MIL and SIL implementation in terms of the overshoot and settling time in the reference voltage tracking. On the other hand, in the PIL implementation, the overshoot performance of the controller deviates by 1.18% more than in SIL and MIL *** alsoconfirm thatthe flyback control system's performance isreliable and effective during all phases of development.

关键词： Rapid prototyping Flyback converter Model-In-The-loop software-in-the-loop Processor-In-The-loop

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A virtual ad hoc network testbed

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INTERNATIONAL JOURNAL OF COMMUNICATION NETWORKS AND DISTRIBUTED SYSTEMS 2010年第1-2期5卷 5-24页

作者： Poylisher, Alex Serban, Constantin Lee, John Lu, Tai-Chuan Chadha, Ritu Chiang, Cho-Yu Jason Telcordia Technol Inc Appl Res 1 Telcordia Dr Piscataway NJ 08854 USA

Testing of applications for ad hoc networks poses a special technical challenge due to the difficulty of conducting experiments in an ad hoc network environment at a scale larger than a few nodes. One approach is to conduct experiments in a testbed that can imitate an ad hoc network. This requires the development of technologies that enable multiple instances of unmodified application software on a set of hosts to communicate via a simulated network that behaves like a real ad hoc network. In this paper, we describe the testbed developed under the virtual ad hoc network (VAN) testbed project1 for testing applications over ad hoc networks, with a special focus on network management applications. The testbed employs Xen-based virtualisation to achieve resource scalability. The infrastructure for the testbed provides an integrated platform consisting of virtual nodes running the actual software under test, augmented with a simulated network environment. Our goal is to enable software testing over large-scale (500-1000 nodes) ad hoc networks using the VAN testbed.

关键词： mobile ad hoc networks MANETs virtual ad hoc network VAN emulation software-in-the-loop SITL simulation hybrid testbed virtualisation virtual machines VM simulated network shadow nodes

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Evaluation of Centralized Model based FLISR in a Lab Setup

Evaluation of Centralized Model based FLISR in a Lab Setup

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IEEE Rural Electric Power Conference (REPC)

作者： Velaga, Yaswanth Nag Prabakar, Kumaraguru Baggu, Murali Schneider, Kevin P. Natl Renewable Energy Lab Golden CO 80401 USA Pacific Northwest Natl Lab Richland WA 99352 USA

ISBN: (纸本)9781665434225

Utilities are installing advanced distribution management systems (ADMS) around the globe to improve the sensing and control of distribution systems. ADMS is becoming a critical component to improve the resiliency and reliability of distribution systems. These management systems host a multitude of applications that can be used to sense, control, and operate distribution systems. Fault location, isolation, and service restoration (FLISR) is one of the ADMS applications that is critical to improving resilience during fault conditions. FLISR applications use smart, controllable devices that are installed in the distribution system for FLISR operation. These controllable devices include distributed energy resources (DER) and reclosers. Evaluating such ADMS applications before installation in the field can help de-risk the field implementation and avoid costly failures in the field. This paper presents a background on experimental setup that are typically used to evaluate ADMS applications. This is followed by briefly presenting the setup used to evaluate the FLISR application in an off-the-shelf ADMS tool. Finally, results from the evaluation experiments are presented.

关键词： Advanced distribution management systems fault location isolation and service restoration FLISR software-in-the-loop power hardware-in-the-loop controller-in-the-loop smart grid

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Modeling and Simulation of software Execution Time in Embedded Systems 10

Modeling and Simulation of Software Execution Time in Embedd...

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10th Annual Computing and Communication Workshop and Conference (CCWC)

作者： Resmerita, Stefan Poelzleitner, Anton Lukesch, Stefan Univ Salzburg Dept Comp Sci Salzburg Austria

ISBN: (数字)9781728137834

ISBN: (纸本)9781728137834

This paper deals with simulation of execution times of embedded software applications on a host computer. We present an approach where time measurements from real-time execution traces are brought and used in a software-in-the-loop simulation environment. We describe a procedure for achieving an efficient representation of execution time annotations for source code fragments that leads to minimal memory and runtime overhead. The paper deals with the commonly encountered situation where the time measurements in execution traces are timestamps at the jump instructions. We show how to obtain the optimal granularity of execution times from a given set of timed jump-to-jump paths. Application and evaluation on an industrial automotive control software are also presented.

关键词： embedded software modeling simulation execution time software-in-the-loop

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Off-Road motorbike performance analysis using a rear semi-active suspension

Off-Road motorbike performance analysis using a rear semi-ac...

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Conference on Active and Passive Smart Structures and Integrated Systems

作者： Lozoya-Santos, Jorge de-J. Cervantes-Munoz, Damian Ramirez Mendoza, Ricardo Univ Monterrey San Pedro Garza Garcia 66238 Nuevo Leon Mexico Inst Tecnol & Estudios Super Monterrey Monterrey 64849 Nuevo Leon Mexico

ISBN: (纸本)9781628415346

The topic of this paper is the analysis of a control system for a semi active rear suspension in an off-road 2-wheel vehicle. Several control methods are studied, as well as the recently proposed Frequency Estimation Based (FEB) algorithm. The test motorcycle dynamics, as well as the passive, semi active, and the algorithm controlled shock absorber models are loaded into BikeSim, a professional two-wheeled vehicle simulation software, and tested in several road conditions. The results show a detailed comparison of the theoretical performance of the different control approaches in a novel environment for semi active dampers.

关键词： off-road motorbikes semi active rear suspension BikeSim software-in-the-loop performance control algorithms

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Q-Learning Applied To Soft-Kill Countermeasures For Unmanned Aerial Vehicles (UAVs)

Q-Learning Applied To Soft-Kill Countermeasures For Unmanned...

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IEEE/ION Position, Location and Navigation Symposium (PLANS)

作者： da Silva, Douglas L. Antreich, Felix Coutinho, Olympio L. Machado, Renato Aeronaut Inst Technol ITA Elect Warfare Lab LAB GE BR-12228900 Sao Jose Dos Campos SP Brazil

ISBN: (纸本)9781728102443

This work presents a three-dimensional control algorithm using reinforcement learning to guide an attacking hunter drone capable of performing a global navigation satellite systems (GNSS) repeater attack on the GNSS receiver of a target invader drone. Considering the mission and movement requirements of the hunter drone, a Q-learning algorithm was developed, for which the table with the possible transitions of the states and actions is obtained by the actions that the vehicle can take considering directions and the respective consequences of each action. The learning capability of the proposed algorithm arises from the trial and error by an agent. The penalty calculation is based on the error of the invader position to the hunter's desired position of the attacked drone. The developed algorithm is tested using a software-in-the-loop (SITL) implementation, which is based on the Ardupilot platform. SITL simulations are performed in a developed testbed to emulate operational scenarios, where an unmanned aerial vehicle (UAV) is hijacked and then controlled by an attacking UAV until it reaches the final position desired by the hunter, usually a secure area where the vehicle can be captured without being destroyed. Results, including error metrics and action time, are discussed for different mission scenarios.

关键词： Control Algorithm Reinforcement Learning Q-Learning software-in-the-loop Ardupilot

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