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21st International Conference on Process Control (PC)

作者： Cech, Martin Konigsmarkova, Jana Reitinger, Jan Balda, Pavel Univ West Bohemia NTIS Fac Sci Appl Tech 8 Plzen 30614 Czech Republic

ISBN: (纸本)9781538640111

The paper presents novel tools for model-based control system design based on FMI/FMU standard (Functional Mock-up Interface / Unit). It is focused on application of FMI standard for easy integration of control system development cycle starting with Model-in-the-loop (MIL) simulation and finishing with Hardware-in-the-loop (HIL) simulation. It is shown, how the Functional Mock-up Units (FMU) containing dynamic differential-algebraic equations of various parts of the device (mechanical, electrical, hydraulic, thermal, etc.) can be easily deployed to unified simulation environment where the control system is designed, consequently. The procedure allows to combine inputs from various Modelica-based tools at the process model side, utilizing power of Matlab/Simulink for design, analysis and optimization of control system and perform final test via HIL scenario where both the model and control system are simulated in real-time on separated HW units. The pros and cons of both FMI concepts, i.e. Co-Simulation and Model Exchange are discussed in detail. The whole procedure is demonstrated on a steam turbine example combining component-based and equation based modeling. Both the turbine model and the full control loop are validated in all phases of control system development. It is shown, that monolithic simulation block with proprietary solver reduces computational burden compared to automatic FMU concept.

关键词： model-based design FMI FMU Model-in-the-loop software-in-the-loop Hardware-in-the-loop steam turbine control

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Synchronization of Hybrid Models in the Automated Driving Simulation 95

Synchronization of Hybrid Models in the Automated Driving Si...

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IEEE 95th Vehicular Technology Conference: (VTC-Spring)

作者： Baron, Wojciech Sippl, Christoph Hielscher, Kai-Steffen German, Reinhard Friedrich Alexander Univ Erlangen Nurnberg Comp Networks & Commun Syst Erlangen Germany Audi AG Predev Automated Driving Ingolstadt Germany

ISBN: (数字)9781665482431

ISBN: (纸本)9781665482431

Developing and testing automated driving functions on public roads or proving grounds is time-consuming and expensive. Driving in virtual environments is increasingly seen as an eligible approach to counteract these drawbacks. The virtual environment is provided by one or more simulation tools and is coupled with software modules of the automated driving function. This results in a feedback loop that controls a virtual vehicle. Since simulation runs are carried out on off-the-shelf computers, determinism issues may occur due to race conditions. However, determinism is a desirable property in order to be able to reasonably benchmark the automated driving function. This work identifies execution patterns of software modules and shows how they can be synchronized by means of mapping to discrete event semantics. The resulting simulation setup produces repeatable results independent of the available computing and network power. The results are demonstrated using an exemplary driving scenario and compared to paced real-time simulation.

关键词： Hybrid Discrete Event software-in-the-loop Automated Driving Simulation

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Handoff of Advanced Driver Assistance Systems (ADAS) using aDriver-in-the-loop Simulator and Model Predictive Control(MPC)

Handoff of Advanced Driver Assistance Systems (ADAS) using a...

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作者： Wilkerson, Jaxon The Ohio State University

学位级别：硕士

The objective of this work is to benchmark Advanced Driver Assistance Systems (ADAS) using a limited motion Driver-in-the-loop (DiL) Simulator and Model Predictive Control (MPC). These ADAS features include Adaptive Cruise Control (ACC), Lane Keeping Assist (LKA), Forward Collision Warning (FCW), and Automatic Emergency (AEB). The handoff of these features is at the discretion of the driver but maintains the operational design domain. Simplified internal models for the ACC MPC and LKA MPC are presented, so the MPC toolbox CasADi could be used as software-in-the-loop (SiL). Both MPC’s leverage adaptive linear techniques alleviating the inherent nonlinearities. SiL ensures robust, real-time execution of the features integrating with the *** and automotive manufacturers are tasked with eliminating automotive deaths and injuries. Of active safety tools at their disposal, ADAS features provide a promising ability to aiding this cause. Driving simulators are becoming an important development tool for active safety systems, automated driving features, and vehicle dynamics development. This driving simulator couples SCANeR Studio®, CarSim®, and MATLAB/Simulink®. Refined and custom cues give the driver a sense of the virtual world providing the immersion. Offline verification using the testbed and sample results using the driving simulator shows the efficacy of prototyping and evaluating ADAS features using the simulator. Combining these elements allows for both quantitative and qualitative assessment of the systems’ functionality, performance, and safety assurance.

关键词： Mechanical Engineering Driving Simulator Advanced Driver Assistance System ADAS Model Predictive Control MPC software-in-the-loop SiL Driver-in-the-loop DiL Adaptive Cruise Control Lane Keeping Assist Forward Collision Warning Automatic Emergency Braking

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Chalmers University of Technology: Robotized Test Setup for Autonomous Driving - Virtual Objects Injection

Chalmers University of Technology: Robotized Test Setup for ...

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作者： Preethi Bodduluri Chalmers University of Technology

学位级别：硕士

This master thesis focuses on injecting virtual objects to active safety ECU of the test car, to verify the active safety and autonomous driving functions of the car. Virtual objects like a pedestrians, cyclists, cars and other stationary and dynamic objects are placed in front of the car to ensure that the car activates its active safety and autonomous functions by itself. These objects are used instead of the real obsta- cles to avoid causing damage to the real actors. Another advantage is that, damage cost can be reduced. High risk scenarios which can't be tested in real time can be implemented with ease by injecting virtual objects. To perform the injection, vehicle-in-the-loop methodology is implemented by creat- ing a virtual object in the simulation environment and sending it to the car. The information of the created object in the desktop simulation environment, that is the position, height, speed etc. are acquired in a SIMULINK model. This SIMULINK model then sends the data using a CAN-box which acts as a bridge between the ECU of the car and the desktop simulator. This hence, efficiently replaces the CAN-bus message that would have been sent by the physical sensors to the ECU of the car when a real actor is detected in the same physical environment. The car then per- forms the required active safety function according to the scenario. Finally, to evaluate the methodology, different scenarios are implemented. This is done to check if the active safety functions like autonomous emergency braking, collision forward warning on the physical car are working according to the expected behaviour.

关键词： Autonomous vehicles Active Safety Function ECU Testing Hardware-in-the-loop software-in-the-loop Vehicle-in-the-loop

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SLIVer: Simulation-Based Logic Bomb Identification/Verification for Unmanned Aerial Vehicles

SLIVer: Simulation-Based Logic Bomb Identification/Verificat...

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作者： Jake M. Magness Air Force Institute of Technology

学位级别：硕士

This research introduces SLIVer, a Simulation-based Logic Bomb Identification/Verification methodology, for finding logic bombs hidden within Unmanned Aerial Vehicle (UAV) autopilot code without having access to the device source code. Effectiveness is demonstrated by executing a series of test missions within a high-fidelity software-in-the-loop (SITL) simulator. In the event that a logic bomb is not detected, this methodology defines safe operating areas for UAVs to ensure to a high degree of confidence the UAV operates normally on the defined flight plan. SLIVer uses preplanned flight paths as the baseline input space, greatly reducing the input space that must be searched to have confidence that the UAV will not encounter a logic bomb trigger condition during its mission. This research discusses the process for creating a logic bomb in the ArduPilot autopilot software, creating test flight profiles, UAV log file parsing, and the analysis of the methodology. SLIVer can accommodate multiple flight profiles and parses through the corresponding log files to create a safety corridor through which the UAV is able to safely traverse through with a desired level of confidence. By utilizing SLIVer, UAV operators and planners alike are afforded increased confidence that the aircraft will operate normally throughout the duration of a mission. The proof of concept implementation shows that the input space required to validate a UAV mission is reduced by approximately 60%, a far better result than brute force input testing. As UAVs are continually called upon to fill critical civilian and military roles, it is essential that planners and users of these devices have a methodology in place to assure that logic bombs are absent from the device.

关键词： Unmanned Aerial Vehicle Logic Bomb Logic Bomb Detection ArduPilot Mission Planner MAVProxy software-in-the-loop UAV UAV Security black box

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Virtual Commissioning of Smart Factory

Virtual Commissioning of Smart Factory

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作者： Sanna Alegard Stefan Knutsso Chalmers University of Technology

学位级别：硕士

Virtual commissioning is a method to test and validate a factory, plant or line in a virtual 3D-model before physically building it. Incorporating virtual commissioning in automation projects, before physical commission- ing, is a large and widely discussed research area today. This report presents the results and conclusions from building a virtual commissioning model of a miniature smart factory that has not yet been built. The model has been developed in ABB's RobotStudio and has been shown to be useful when evaluating the physical construc- tion, robot paths and PLC-program. By testing the PLC-program in the model in an early stage of the project it has been possible to detect software errors that probably would have been found later at the commissioning stage, where mistakes are much more costly and there is a lot of pressure to start production as fast as possible. The report also covers the state of virtual commissioning including possibilities and challenges, by presenting a research study including interviews with experienced people within the subject. The study together with conclusions from developing the model shows that virtual commissioning is a topic that has a lot of potential but is still in an early stage with some challenges to overcome. The main challenges are that building a virtual commissioning model today is too time consuming and that the software available today need to be developed further for easier use and connection between the virtual PLC and the VC-model.

关键词： Virtual Commissioning Automation Virtual model software-in-the-loop Emulation Simulation RobotStudio Automation Builder

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Modeling and Assessment of State-Of-The-Art Traffic Control Subsystems

Modeling and Assessment of State-Of-The-Art Traffic Control ...

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作者： Mladenovic, Milos Novica Virginia Tech | University

Traffic signals are one of the vital control elements of traffic management and control systems under purview of Departments of Transportation (DOTs) nationwide. They directly affect mobility, safety, and environmental parameters of the transportation networks. Traffic engineers in DOTs often face pressure for extracting additional benefits from existing signal control equipment, influenced by evident increase in demand and changing traffic patterns. However, they often face difficulties, usually from the maturity of the field equipment, lack of understanding of currently available equipment capabilities, and multitude of market available equipment. Besides issues in everyday operation, the need for improved decision-making process appears during selection and implementation of the future signal-control subsystems. This thesis is focusing on the issues related with the need for extracting additional benefits and improved planning of signal-control equipment deployment. Presented are several methodologies and techniques for modeling and assessing traffic signal controllers and supporting communication infrastructure. Techniques presented in this thesis include Petri Net modeling language, software-in-the-loop simulation, and Geographical Information Systems. Specific capabilities of listed techniques are coordinated for maximizing their benefits in addressing specific issues. The intended positive effects reflect in enhanced comprehension, numerical representation, and analysis of state-of-the-art signal control subsystems in focus. Frameworks, methodologies, and example cases are presented for each of the specific issues in identified traffic signal subsystems, along with recommendations for further research.

关键词： Geographical Information Systems traffic signal controller communication infrastructure Petri Net software-in-the-loop Thesis

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Development of a Series Parallel Energy Management Strategy for Charge Sustaining PHEV Operation

Development of a Series Parallel Energy Management Strategy ...

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作者： Manning, Peter Christopher Virginia Tech | University

The Hybrid Electric Vehicle Team of Virginia Tech (HEVT) is participating in the 2012-2014 EcoCAR 2: Plugging in to the Future Advanced Vehicle Technology Competition series organized by Argonne National Lab (ANL), and sponsored by General Motors Corporation (GM) and the U.S. Department of Energy (DOE). The goals of the competition are to reduce well-to-wheel (WTW) petroleum energy consumption (PEU), WTW greenhouse gas (GHG) and criteria emissions while maintaining vehicle performance, consumer acceptability and safety. Following the EcoCAR 2 Vehicle Development Process (VDP) of designing, building, and refining an advanced technology vehicle over the course of the three year competition using a 2013 Chevrolet Malibu donated by GM as a base vehicle, the selected powertrain is a Series-Parallel Plug-In Hybrid Electric Vehicle (PHEV) with P2 (between engine and transmission) and P4 (rear axle) motors, a lithium-ion battery pack, an internal combustion engine, and an automatic transmission. Development of a charge sustaining control strategy for this vehicle involves coordination of controls for each of the main powertrain components through a distributed control strategy. This distributed control strategy includes component controllers for each individual component and a single supervisory controller responsible for interpreting driver demand and determining component commands to meet the driver demand safely and efficiently. For example, the algorithm accounts for a variety of system operating points and will penalize or reward certain operating points for other conditions. These conditions include but are not limited to rewards for discharging the battery when the state of charge (SOC) is above the target value or penalties for operating points with excessive emissions. Development of diagnostics and remedial actions is an important part of controlling the powertrain safely. In order to validate the control strategy prior to in-vehicle operation, simulations are run

关键词： hybrid electric vehicle plug-in EV PHEV fuel consumption model-based design powertrain selection control system validation simulation software-in-the-loop hardware-in-the-loop Thesis

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Model-Based Design of a Plug-In Hybrid Electric Vehicle Control Strategy

Model-Based Design of a Plug-In Hybrid Electric Vehicle Cont...

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作者： King, Jonathan Charles Virginia Tech | University

For years the trend in the automotive industry has been toward more complex electronic control systems. The number of electronic control units (ECUs) in vehicles is ever increasing as is the complexity of communication networks among the ECUs. Increasing fuel economy standards and the increasing cost of fuel is driving hybridization and electrification of the automobile. Achieving superior fuel economy with a hybrid powertrain requires an effective and optimized control system. On the other hand, mathematical modeling and simulation tools have become extremely advanced and have turned simulation into a powerful design tool. The combination of increasing control system complexity and simulation technology has led to an industry wide trend toward model based control design. Rather than using models to analyze and validate real world testing data, simulation is now the primary tool used in the design process long before real world testing is possible. Modeling is used in every step from architecture selection to control system validation before on-road testing begins. The Hybrid Electric Vehicle Team (HEVT) of Virginia Tech is participating in the 2011-2014 EcoCAR 2 competition in which the team is tasked with re-engineering the powertrain of a GM donated vehicle. The primary goals of the competition are to reduce well to wheels (WTW) petroleum energy use (PEU) and reduce WTW greenhouse gas (GHG) and criteria emissions while maintaining performance, safety, and consumer acceptability. This paper will present systematic methodology for using model based design techniques for architecture selection, control system design, control strategy optimization, and controller validation to meet the goals of the competition. Simple energy management and efficiency analysis will form the primary basis of architecture selection. Using a novel method, a series-parallel powertrain architecture is selected. The control system architecture and requirements is defined using a systematic

关键词： model-based design hybrid electric vehicle plug-in architecture selection hardware-in-the-loop software-in-the-loop simulation control system validation Thesis

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Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove

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MICROMACHINES 2021年第2期12卷 181-181页

作者： El-Agroudy, Mohammed N. Awad, Mohammed I. Maged, Shady A. Ain Shams Univ Fac Engn Mechatron Engn Dept Cairo 11566 Egypt Galala Univ Fac Engn Mechatron Engn Dept Cairo 11566 Egypt

The soft pneumatic actuators of an assistive exoskeleton hand glove are here designed. The design of the actuators focuses on allowing the actuator to perform the required bending and to restrict elongation or twisting of the actuator. The actuator is then modeled using ABAQUS/CAE, a finite element modeling software, and the open loop response of the model is obtained. The parameters of the actuator are then optimized to reach the optimal parameters corresponding to the best performance. Design of experiment (DOE) techniques are then approached to study the robustness of the system. software-in-the-loop (SiL) is then approached to control the model variables via a proportional-integral-derivative (PID) control generated by FORTRAN code. The link between the two programs is to be achieved by the user subroutine that is written, where the subroutine receives values from ABAQUS/CAE, performs calculations, and passes values back to the software. The controller's parameters are tuned and then the closed loop response of the model is obtained by setting the desired bending angle and running the model. Furthermore, a concentrated force at the tip of the actuator is added to observe the actuator's response to external disturbance.

关键词： soft robotics rehabilitation exoskeleton hand glove finite element modeling software-in-the-loop design of experiment

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