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.

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.

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.

A comparative process simulation study of Ca-Cu looping involving post-combustion CO2 capture

This work presents a simulation study of several Ca-Cu looping variants with CO(2)capture,aiming at both parameter optimization and exergy analysis of these Ca-Cu looping systems.Three kinds of Ca-Cu looping are considered:(1)carbonation-calcination/reduction-oxidation;(2)carbonation-oxidation-calcination/reduction and (3)carbona tion/oxidation-calcination/reduction.A conventional Ca looping is also simulated for comparison.The influences of the calcination temperature on the mole fractions of CO(2)and CaO at the calciner outlet,the CaCO3 flow rate on the carbonator performance and the Cu/Ca ratio on the calciner performance are analyzed.The second kind of Ca-Cu looping has the highest carbonation conversion.At 1×10^5 Pa and 820℃,complete decomposition of CaCO3 can be achieved in three Ca-Cu looping systems,while the operation condition of 1×10^5 Pa,840℃is required for the conventional Ca looping system.Furthermore,the Cu/Ca molar ratio of 5.13-5.19 is required for the Ca-Cu looping.Exergy analyses show that the maximum exergy destruction occurs in the calciner for the four modes and the second Ca-Cu looping system(i.e.,carbonation-oxidation-calcination/reduction)performs the highest exergy efficiency,up to 65.04%,which is about 30%higher than that of the conventional Ca looping.

Dynamics simulation of the belt conveyor possessing feedback loop during starting

Synthesizing the mechanical models of the belt, the driver and the take-up device, the dynamics model was established on the longitudinal vibration of the overall belt conveyor system with finite elemental method, and S-function simulation block of asynchronous motor owing feedback function was built in Matlab/Simulink software, the simulation block indicates that motor rotation speed and its output moment vary with load and time, and the motor is a dynamic feedback system in working process. The state space block was adopted to express model of the belt. Thus it created simulation model of established dynamic model of overall belt conveyor system with Mat- lab/Simulink software, and simulates the course of starting by properly setting simulation parameters, and processes data for visualization.

基于AMESim和Simulink的自动变速箱模型在环试验研究

在车辆控制器硬件在环测试中常采用单一环境建立复杂被控模型,但是所建模型精度与计算实时性存在矛盾等问题。为解决该问题,对在联合仿真环境中构建复杂的所需模型进行了研究。该模型由使用Simulink建立发动机、液力变矩器、车辆动力学模型和自动换挡控制器模型和使用AMESim建立的离合器、行星齿轮、液压系统、液力缓速器模型共同组成。在Veristand中创建了模型在环仿真控制界面,基于Veristand进行了NEDC工况下的模型在环仿真。仿真结果表明:所建模型运行稳定,计算量小,能准确地输出车辆换挡过程中各路信号,为基于硬件在环的车辆控制器测试提供了研究基础。

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.

STATIC CORRECTION MODES IN DYNAMICAL SIMULATION OF FLEXIBLE MULTIBODY SYSTEM WITH CLOSED LOOPS

By use of the recursive formulation of flexible multibody system with closed loops,this paper studies the dynamic simulation of complicated multibody system.The conception of static correction modes in structural dynamics is introduced to present the local deformation effects due to reaction forces at kinematic joints.A space four bar mechanism is utilized here as an example to describe the method of selecting static correction modes.Compared with vibration normal modes, static correction modes are demonstrated to be effective in numerical simulation.

Application of Fractal Theory in Simulation of Ferromagnetic Elements' Hysteresis Loop in Transformer

The simulation of the transformer transient is one of the indispensable qualifications for improving the performance of transformer protection, the key technique of the transformer's transient simulation is the treatment of ferromagnetic elements' loop. Thus the shapes of the primary hysteresis loop and each internal secondary hysteresis loop in the identical magnetism conducting are analyzed, and then it is proposed that there are some fractal characteristics in the relation between them. The fractal phenomenon of the ferromagnetic elements' hysteresis loop in the transformer's transient simulation is first brought forward, the mutuality between the ferromagnetic elements' primary hysteresis loop and its secondary hysteresis loops is revealed in mechanism by using the fractal theory. According to the iterated function system of fractal theory, the secondary hysteresis loops can be generated by the iterative calculation of the primary loop. The simulation results show the validity of this idea.

Study on a Closed-Loop Air-Fuel Control System of Gasoline Engines by Simulation

In order to study the factors that influence the air fuel ratio(A/F), the amplitude and frequency of A/F fluctuation, to reform the control strategy, and to improve the efficiency of three way catalyst(TWC), a model of closed loop control system including the engine, air fuel mixing and transportation, oxygen sensor and controller, etc., is developed. Various factors that influence the A/F control are studied by simulation. The simulation results show that the reference voltage of oxygen sensor will influence the mean value of A/F ratio, the controller parameters will influence the amplitude of A/F fluctuation, and the operating conditions of the engine determine the frequency of A/F fluctuations, the amplitude of A/F fluctuation can be reduced to within demanded values by logical selection of the signal acquisition method and controller parameters. Higher A/F fluctuation frequency under high speed and load can be reduced through software delay in the controller. The A/F closed loop control system based on the simulation results, accompanied with a rare earth element TWC, gives a better efficiency of conversion against harmful emissions.

Electric vehicle simulation with battery in the loop

An electric vehicle simulation system with battery in the loop（BIL） is described in this paper.Virtual models are used for the other parts of power train including the electric motor/controller,transmission and vehicle dynamics,which allows the easy change of system parameters and rapid evaluation of vehicle and battery performance for different vehicle configurations.Tests were conducted using the system and the measurements（voltage and current,efficiency） obtained from the real battery were compared with those obtained from a standard nominal model of the battery.The results indicate that the measured voltage and current between the real battery and those obtained from the model are significantly different.Additionally,it is expected that the difference will increase significantly as the battery ages.

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.

Simulation of M-H Loops in FeCo Polycrystalline Thin Films at Finite Temperatures

We apply the hybrid Monte Carlo （HMC） micromagnetie method to FeCo soft magnetic polycrystalline films and test the new method by comparing with the result worked out by micromagnetics using Landau Lifshitz-Gilbert equations, and the magnetic properties of FeCo films are understood better by carefully considering the effects of polycrystalline microstructures. The hysteresis loops of the FeCo film from low temperature up to 1100K are simulated by the new HMC micromagnetic method.

Three-Dimensional Phase Field Simulations of Hysteresis and Butterfly Loops by the Finite Volume Method

Three-dimensional simulations of ferroelectric hysteresis and butterfly loops are carried out based on solving the time dependent Ginzburg-Landau equations using a finite volume method. The influence of externally mechanical loadings with a tensile strain and a compressive strain on the hysteresis and butterfly loops is studied numerically. Different from the traditional finite element and finite difference methods, the finite volume method is applicable to simulate the ferroelectric phase transitions and properties of ferroelectric materials even for more realistic and physical problems.

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.

Simulation of Automotive Engine Phase Signal Based on Closed-Loop Strategy

In this paper, an automotive engine phase signal simulation algorithm is proposed based on a closed-loop feedback strategy, and its corresponding model is built. The signal incentives are carried out in the front-end, and the synchronization capture and comparison are conducted in the back-end. The phase simulation of signal output is achieved using closed-loop strategy, which can effectively eliminate the inconsistency between crankshaft and camshaft phases, and thus the accuracy and flexibility of phase signal generation are guaranteed. Experimental results show that the proposed algorithm is real time, and the deviation of simulated signals from actual phase signals is small. © 2017, Tianjin University and Springer-Verlag Berlin Heidelberg.