Development of a Low-cost Hardware-in-the-loop Simulation System as a Test Bench for Anti-lock Braking System

Nowadays validation of anti-lock braking systems（ABS） relies mainly on a large amount of road tests.An alternative means with higher efficiency is employing the hardware-in-the-loop simulation（HILS） system to substitute part of road tests for designing,testing,and tuning electronic control units（ECUs） of ABS.Most HILS systems for ABS use expensive digital signal processor hardware and special purpose software,and some fail-safe functions with regard to wheel speeds cannot be evaluated since artificial wheel speed signals are usually provided.In this paper,a low-cost ABS HILS test bench is developed and used for validating the anti-lock braking performance and tuning control parameters of ABS controllers.Another important merit of the proposed test bench is that it can comprehensively evaluate the fail-safe functions with regard to wheel speed signals since real tone rings and sensors are integrated in the bench.A 5-DOF vehicle model with consideration of longitudinal load transfer is used to calculate tire forces,wheel speeds and vehicle speed.Each of the four real-time wheel speed signal generators consists of a servo motor plus a ring gear,which has sufficient dynamic response ability to emulate the rapid changes of the wheel speeds under strict braking conditions of very slippery roads.The simulation of braking tests under different road adhesion coefficients using the HILS test bench is run,and results show that it can evaluate the anti-lock braking performance of ABS and partly the fail-safe functions.This HILS system can also be used in such applications as durability test,benchmarking and comparison between different ECUs.The test bench developed not only has a relatively low cost,but also can be used to validate the wheel speed-related ECU design and all its fail-safe functions,and a rapid testing and proving platform with a high efficiency for research and development of the automotive ABS is therefore provided.

Realization of nonlinear PID with feed-forward controller for 3-DOF flight simulator and hardware-in-the-loop simulation

As friction, intrinsic steady-state nonlinearity poses a challenging dilemma to the control system of 3-DOF （three degree of freedom） flight simulator, a novel hybrid control strategy of nonlinear PID （proportionalintegral-derivative） with additional FFC （feed-forward controller） is proposed, and the hardware-in-the-loop simulation results are also given. Based on the description of 3-DOF flight simulator, a novel nonlinear PID theory is well introduced. Then a nonlinear PID controller with additional FFC is designed. Subsequently, the loop structure of 3-DOF flight simulator is also designed. Finally, a series of hardware-in-the-loop simulation experiments are undertaken to verify the feasibility and effectiveness of the proposed nonlinear PID controller with additional FFC for 3-DOF flight simulator.

SPACECRAFT DOCKING SIMULATION USING HARDWARE-IN-THE-LOOP SIMULATOR WITH STEWART PLATFORM

A ground-based hardware-in-the-loop （HIL） simulation system with hydraulically driven Stewart platform for spacecraft docking simulation is presented. The system is used for simulating docking process of the on-orbit spacecraft. Principle and structure of the six-degree-of-freedom simulation system are introduced. The docking process dynamic of the vehicles is modeled. Experiment results and mathematical simulation data are compared to validating the simulation system. The comparisons of the results prove that the simulation system proposed can effectively simulate the on-orbit docking process of the spacecraft.

Hardware-in-loop simulation on hydrostatic thrust bearing worktable pose

A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated by electro hydraulic servo valve-control variable pump according to the surface roughness, load, cutting force, and thermal effects of worktable. The mathematical models of the controllable chamber flow, servo variable mechanism and controller were built. The pose control model was established, which contained the kinematics positive and negative solution and control strategy of feedforward and hydraulic cylinder position feedback. Hardware-in-loop simulation experiment was carried out on the electro hydraulic servo test bench by means of the non-linear relation of film thickness and hydraulic cylinder displacement. Hardware-in-loop simulation experiment results show that the controllable bearings exhibit high oilfilm rigidity, the rising time is 0.24 s and the maximum overshoot is 2.23%, and can be applied in high precision heavy machine tool.

Study on Hardware-in-loop Simulation of Twin-screw Extruder Experiment System

In order to facilitate the teaching of industrial processes and experiments on the twin-screw extruder control debugging,and be closer to the actual testing,to reduce the debugging costs and the risk of debugging process,the paper designs a hardware-in-loop simulation of twin-screw extruder experiment system which is closer to scene,low cost and high safety.The system through the establishment of twin-screw extruder’s mathematical model on computer to simulate the realistic system and there is hardware practicality in the computer simulation loop.The hardware based on C8051F020 can operate in the simulation loop in real time.In computer software design, we desigh man-machine interface that is intuitive and easy to operate,can reflect twin-screw extruder main operation information vividly.Finally,twin-screw extruder’s 3 heater temperature mathematical model and PID incremental control algorithm are presented.

Matlab Based Human & Hardware-in-Loop Simulation for the Study on Vehicle Stability Control

This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.

Hardware-in-the-loop simulation of communication networks

To enhance the fidelity and accuracy of the simulation of communication networks,hardware-in-the-loop（HITL） simulation was employed.HITL simulation methods was classified into three categories,of which the merits and shortages were compared.Combing system-in-the-loop（SITL） simulation principle with high level architecture（HLA）,an HITL simulation model of asynchronous transfer mode（ATM） network was constructed.The throughput and end-to-end delay of all-digital simulation and HITL simulation was analyzed,which showed that HITL simulation was more reliable and effectively improved the simulation credibility of communication network.Meanwhile,HLA-SITL method was fast and easy to achieve and low-cost during design lifecycle.Thus,it was a feasible way to research and analyze the large-scale network.

New Solution on Distributed Hardware-in-the-Loop Radar System Simulation on HLA

In the large-scale distributed hardware-in-the-loop radar simulation system based on HLA, a new solution of processing after acquisition is proposed, which separates the software subsystem from the hardware jammer subsystem by a response database, so as to settle the problem, that the software subsystem can not meet the real-time need of the hardware, with very little increment of code. And the data completeness and feasibility of this solution are discussed.

Hardware in Loop Simulation for Emergency Communication Mobile Ad Hoc Network

For the research of mobile Ad hoc network (MANET), hardware in the loop simulation (HILS) is introduced to improve simulation fidelity. The architectures and frameworks of HILS system are discussed. Based on HILS and QualNet network simulator, two kinds of simulation frameworks for MANET multicast emergency communication network are proposed. By running simulation under this configuration and doing experiments with on-demand multicast routing protocol (ODMRP), unicast and multicast functions of this protocol are tested. Research results indicate that HILS method can effectively reduce the difficulty of system modeling and improve precision of simulation, and can further accelerate transition from design to system deployment.

Marine Current Turbine Simulator Development Based on Hardware in the Loop Simulation Concept

This paper is a contribution to the development of real time simulators for energy conversion research with respects to the ＂hardware in the loop simulation＂ concept. The focus is on the study of marine current kinetics energy conversion from into electrical energy using a marine current turbine simulator, developed in three stages. In the first stage the marine current turbine is emulated with the help of an induction drive who reproduces at its shaft the characteristics of a real turbine. It is connected with a load break used to force the emulator to respect on its shaft the characteristics of the real turbine. In the second stage, the induction drive is connected on the shaft with a doubly feed induction generator, for the study of energy conversion. The emulator respects the working regime, developed in the previous step, of a real turbine due to the control of the drive. In the third stage the induction machine emulating the turbine is interconnected with the generator and the load break. This assembly is used for the dynamic study of the marine current turbine. The break is used to create extra loads on the shaft and a variable inertial moment.

Hardware-in-the-Loop Research on the Electronic Control Unit for Diesel Engines

A hardware-in-the-loop simulating platform is developed to avoid designing defects caused by the complicated logical structure and multiple-functional buildup of the dectronic control unit（ECU）in modem diesel engines, and to diminish potential damages on components or human exposure to dangers in R＆D en- deavor. This plat-form consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A typical model of diesel engine with turbocharger and intercooler is presented. Based on this model our research is carried out with a real ECU to test its software control strategies. Results show that by using the diesel engine model downloaded inside, the hardware-in-the-loop platform can simulate diesel engine＇s working conditions and generate all kinds of sensor signals which ECU needs on a real-time basis. So the ECU control strategies can be validated and relevant parameters roughly calibrated.

Modeling and Analysis of Pumping Motor Drives in Hardware-in-the-Loop Environment

In the proposed paper, the new experimental results are described obtained from the laboratory stand and the model developed by the authors. A method of acquiring characteristics of a pump motor drive using a hardware-in-the-loop simulation approach is explained. To explore the centrifugal pumps manufactured by ABB, their own control system is used whereas an industrial pump is replaced with the specially designed simulator. To clarify the model topology and parameters, a double-machine assembly was designed and used as universal pump prototype. A library of reference and disturbance signals used in pumping was applied as a modeling tool. In this way, the advantages of mathematical and physical simulations have been combined with optimal interaction of both approaches.

基于SIMULINK/RT-LAB的导弹制导系统HIL仿真平台设计

为方便制导技术的研究,提出了一个导弹制导系统硬件在回路(HIL)仿真方案。仿真系统可以将SIMULINK下建立的模型通过RT-LAB下载到目标机上实时地执行,提高了硬件在回路仿真的效率和可靠性。仿真过程中引入了导引头、制导舱、舵机、弹体、目标模拟器等实际物理部件,可以进行多种导引、控制律的硬件在回路仿真,仿真过程更贴近实战环境。

Design and Validation of a Hardware-In-The-Loop Based Automated Driving Simulation Test Platform

With the iterative development of autonomous driving technology,selfdriving cars will be one of the most competitive areas in the future.In order to provide students with a better understanding and more comprehensive grasp of autonomous driving technology,a hardware-in-the-loop based autonomous driving simulation test platform has been built.The hardware-in-the-loop system integrates MATLAB/Simulink to build the core control algorithm model,CarMaker simulation software to provide a virtual display interface and vehicle dynamics model,and NVIDIA Jetson to deploy the ECU(Electronic Control Unit)to improve the algorithm power and Logitech G29 series driving simulators providing signal input.It provides a simulation test platform for the development and testing of advanced driver assistance systems,the development and testing of upper layer control algorithms and underlying actuators for autonomous driving,and can provide a teaching and experimental platform for undergraduate students and a development foundation for postgraduate practice.

Development and Applications of Simulation Technology

The developing process of simulation technology is discussed in view of its development, maturation and further development. The applications of simulation technology in the fields of national economy are introduced. Finally, the level and status quo of simulation technology home and overseas are analyzed, and its future trend in the new century is presented.

Design of an Integrated SITL and HITL Simulation System for the Control of a Loitering Aerial Vehicle

An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop（HITL） platform for aircraft flight simulation based on MATLAB/Simulink ＋ dSPACE. The platform combines the abundant software and hardware resources of dSPACE simulation platform to simulate the flight attitude of an aircraft in six-DOF （ degree of freedom） motion. Based on the platform, the study was then focused on the flight numerical simulation by taking a loitering aerial vehicle as an example. An aircraft mathematical model was created for a modular design and off-line numerical simulation based on MATLAB/Simulink. Finally, the study was focused on the control system design of the loitering aerial vehicle and conduct of an HITL simulation experiment for the vehicle pitch control. The experiment verifies the system design and control effectiveness. Research results show that the dSPACE simulation system provides a real time good experimental platform to improve the efficiency of study and development of a flight control system.

HIL testing of wheel slide protection systems:criteria for continuous updating and validation

Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded adhesion conditions on a real railway line. WSP is devoted to regulating applied braking forces to avoid excessive wheel sliding in case of degraded adhesion conditions between wheel and rail. WSP must be also compliant to safety specifications related to assured braking performances and consumed air. Hardware in the loop(HIL) testing offers an affordable and sustainable way to accelerate these activities optimizing cost, duration and safety of experimental activities performed online. HIL test rigs are subjected to continuous updates, customization and natural ageing of their components. This work investigates the criteria that can be adopted to assure a continuous monitoring and validation of a real WSP test rig, the Italian test rig of Firenze Osmannoro.

BMS HIL试验研究

本文围绕动力电池及其管理系统功能需求和HIL硬件在环试验进行分析,提出BMS HIL台架的功能和指标要求,介绍HIL测试中模型要求及模型参数获取方法、测试用例设计。通过本次研究,实现BMS功能和故障注入等HIL测试,为BMS功能开发提供快速、全面的测试验证手段。

基于人工蜂群算法的温差发电阵列最优重构方法

在新能源发电技术快速发展的背景下,温差发电(TEG)技术能够很好地利用新能源发电中产生的废热.然而,温度分布的变化会使得TEG阵列的输出特性恶化、发电效率降低.提出基于人工蜂群(ABC)算法的TEG阵列重构方法,在3种不同温度分布情况下,利用ABC在对称9×9和不对称10×15两种TEG阵列进行动态重构.将所提算法与遗传算法、粒子群优化算法和秃鹰搜索优化算法3种启发式算法作对比,并给出由ABC重构后的TEG阵列温度分布图.结果表明:ABC能够提高TEG阵列的输出功率,输出功率-电压曲线均趋向呈现出单个峰值.此外,利用基于RTLAB平台上的硬件在环实验验证了硬件可行性.

制导控制系统半实物仿真总体方案设计及集成联试

半实物仿真作为一个大型分布式仿真系统,其总体方案的设计优劣和集成联试的是否顺利,直接影响了系统性能指标的表现和建设目标的实现。归纳总结了总体方案设计的工作内容,分析了实时性、兼容性、扩展性和安全性的性能要求;给出了包括功能层次、运行机制和结构组成在内的典型半实物仿真系统总体方案;概括了仿真系统的集成联试内容,总结了典型系统的集成联试步骤,给出了系统验收测试的内容和系统可信度评估方法。