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.

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.

Hardware-Software Co-Simulation for SOC Functional Verification

A hardware-software co-simulation method for system on chip (SOC) design is discussed. It is based on an instruction set simulator (ISS) and an event-driven hardware simulator, and a bus interface model that is described in C language provides the interface between the two. The bus interface model and the ISS are linked into a singleton program--the software simulator, which communicate with the hardware simulator through Windows sockets. The implementation of the bus interface model and the synchronization between hardware and software simulator are discussed in detail. Co-simulation control of the hardware simulator is also discussed.

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 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.

Auto-Scale Factor Circuit Realisation for MIMO Hardware Simulator

A hardware simulator reproduces the behavior of the radio propagation channel, thus making it possible to test “on table” the mobile radio equipments. The simulator can be used for LTE and WLAN 802.11ac applications, in indoor and outdoor environments. In this paper, the input signals parameters and the relative power of the impulse responses are related to the relative error and SNR of the output signals. After analyzing the influence of these parameters on the output error and SNR, an algorithm based on an Auto-Scale Factor (ASF) is analyzed in details to improve the precision of the output signals of the hardware simulator digital block architecture. Moreover, the circuit needed for the validation of this algorithm has been introduced, verified and realized. It is shown that this solution increases the output SNR if the relative powers of the impulse responses are attenuated. The new architecture of the digital block is presented and implemented on a Xilinx Virtex-IV FPGA. The occupation on the FPGA and the accuracy of the architecture are analyzed.

MIMO Hardware Simulator: Algorithm Design for Heterogeneous Environments

A wireless communication system can be tested either in actual conditions or by a hardware simulator reproducing actual conditions. With a hardware simulator it is possible to freely simulate a desired type of a radio channel and making it possible to test “on table” mobile radio equipment. This paper presents an architecture for the digital block of a hardware simulator of MIMO propagation channels. This simulator can be used for LTE and WLAN IEEE 802.11ac applications, in indoor and outdoor environments. However, in this paper, specific architecture of the digital block of the simulator is presented to characterize a scenario indoor to outdoor using TGn channel models. The switching between each environment in the scenario must be made in a continuous manner. Therefore, an algorithm is designed to pass from a considered impulse response in the environment to another in other environment. The architecture of the digital block of the hardware simulator is presented and implemented on a Xilinx Virtex-IV FPGA. Moreover, the impulse responses are transferred into the simulator. The accuracy, the occupation on the FPGA and the latency of the architecture are analyzed.

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.

TikTak: A Scalable Simulator of Wireless Sensor Networks Including Hardware/Software Interaction

We present a simulation framework for wireless sensor networks developed to allow the design exploration and the complete microprocessor-instruction-level debug of network formation, data congestion, nodes interaction, all in one simulation environment. A specifically innovative feature is the co-emulation of selected nodes at clock-cycle-accurate hardware processing level, allowing code debug and exact execution latency evaluation (considering both protocol stack and application), together with other nodes at abstract protocol level, meeting a designer’s needs of simulation speed, scalability and reliability. The simulator is centered on the Zigbee protocol and can be retargeted for different node micro-architectures.

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.

Multiprocessing and Dataflow Processing Architecture of a Pixel Processor and Its VHDL Simulation Strategy

The design of a pixel processor of a real-time CIG (Computer Image Generation) system is summarized. The system has been brought into use. In order to adopt ASIC (Application-Specific integrated Circuit) technology in the design of the new system, the VHDL (Very high speed integrated circuit Hardware Description Language) is used and a re-design and simulation strategy is planed.

Numerical Simulation of U-Shaped Metal Rings in a Wind-Sand Environment

The interaction of U-shaped rings used for power transmission hardware with a wind-sand field is simulated numerically.A standard k
turbulence model is used in synergy with an Eulerian-Lagrangian approach.The results show that the wind pressure on the windward side of the U-shaped ring is the highest,a negative pressure zone appears on both sides of the U-shaped ring,while a Kármán Vortex Street is created on its leeward side.There are three possible regimes of motion for the sand grains in the wind field.Sand grains with size below 0.125 mm can follow the airflow directly into the contact area of two U-shaped rings.When the sand size is about 0.1 mm,the number of sand grains that are blown into the contact area attains a maximum.Through the simulation of U-shaped rings in the wind-sand field,the dynamics of such processes are explained in detail,thereby providing relevant information for the subsequent protection and design of connecting hardware used for power transmission.