Various distributed cooperative control schemes have been widely utilized for cyber-physical power system(CPPS),which only require local communications among geographic neighbors to fulfill certain goals.However,the p...Various distributed cooperative control schemes have been widely utilized for cyber-physical power system(CPPS),which only require local communications among geographic neighbors to fulfill certain goals.However,the process of evaluating the performance of an algorithm for a CPPS can be affected by the physical target characteristics and real communication conditions.To address this potential problem,a testbed with controller hardware-in-the-loop(CHIL)is proposed in this paper.On the basis of a power grid simulation conducted using the real-time simulator RT-LAB developed by the company OPAL-RT,along with a communication network simulation developed with OPNET,multiple distributed controllers were developed with hardware devices to directly collect the real-time operating data of the power system model in RT-LAB and provide local control.Furthermore,the communication between neighboring controllers was realized using the cyber system modelin OPNET with an Ethernet interface.The hardware controllers produced a real-world control behavior instead of a digital simulation,and precisely simulated the dynamic features of a CPPS with high speed.A classic cooperative control case for active power output was studied to explain the integrated simulation process and validate the effectiveness of the co-simulation testbed.展开更多
Regarding the spatial profile extraction method of a multi-field co-simulation dataset,different extraction directions,locations,and numbers of profileswill greatly affect the representativeness and integrity of data....Regarding the spatial profile extraction method of a multi-field co-simulation dataset,different extraction directions,locations,and numbers of profileswill greatly affect the representativeness and integrity of data.In this study,a multi-field co-simulation data extractionmethod based on adaptive infinitesimal elements is proposed.Themultifield co-simulation dataset based on related infinitesimal elements is constructed,and the candidate directions of data profile extraction undergo dimension reduction by principal component analysis to determine the direction of data extraction.Based on the fireworks algorithm,the data profile with optimal representativeness is searched adaptively in different data extraction intervals to realize the adaptive calculation of data extraction micro-step length.The multi-field co-simulation data extraction process based on adaptive microelement is established and applied to the data extraction process of the multi-field co-simulation dataset of the sintering furnace.Compared with traditional data extraction methods for multi-field co-simulation,the approximate model constructed by the data extracted from the proposed method has higher construction efficiency.Meanwhile,the relative maximum absolute error,root mean square error,and coefficient of determination of the approximationmodel are better than those of the approximation model constructed by the data extracted from traditional methods,indicating higher accuracy,it is verified that the proposed method demonstrates sound adaptability and extraction efficiency.展开更多
In order to observe the change and fluctuation in flow and pressure of a hydraulic quadruped robot's hydraulic system when the robot walks on trot gait,a co-simulation method based on ADAMS and AMESim is proposed. Fi...In order to observe the change and fluctuation in flow and pressure of a hydraulic quadruped robot's hydraulic system when the robot walks on trot gait,a co-simulation method based on ADAMS and AMESim is proposed. Firstly,the change rule in each swing angle of the hydraulic quadruped robot's four legs is analyzed and converted to the displacement change of the hydraulic cylinder by calculating their geometric relationship.Secondly,the robot's dynamic model is built in ADAMS and its hydraulic and control system models are built in AMESim. The displacement change of the hydraulic cylinder in the hydraulic system is used as the driving function of the dynamics model in ADAMS,and the driving force of the dynamics model is used as the loads of the hydraulic system in AMESim. By introducing the PID closed-loop control in the control system,the co-simulation between hydraulic system and mechanical system is implemented. Finally,the curve of hydraulic cylinders' loads,flow and pressure are analyzed and the results show that they fluctuate highly in accordance with the real situation. The study provides data support for the development of a hydraulic quadruped robot's physical prototype.展开更多
To study the durability of a passenger car, this work investigates numerical simulation techniques. The investigations are based on an explicit implicit approach in which substructure techniques are used to reduce the...To study the durability of a passenger car, this work investigates numerical simulation techniques. The investigations are based on an explicit implicit approach in which substructure techniques are used to reduce the simulation time, allowing full vehicle dynamic analyses to be performed on a timescale that is dif cult or impossible with the conventional nite element model (FEM). The model used here includes all necessary nonlinearities in order to maintain accuracy. All key components of the car structure are modeled with deformable materials. Tire road interactions are modeled in the explicit package with contact-impact interfaces with arbitrary frictional and geometric properties. Key parameters of the responses of the car driven on six different kinds of test road surfaces are examined and compared with experimental values. It can be concluded that the explicit implicit co-simulation techniques used here are ef cient and accurate enough for engineering purposes. This paper also discusses the limitations of the proposed method and outlines possible improvements for future work.展开更多
The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision character...The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.展开更多
We reversely analyzed the energy management strategy (EMS) for a single-shaft parallel hybrid electric vehicle (HEV), and build a forward co-simulation platform based on Cruise and Matlab. The vehicle dynamics mod...We reversely analyzed the energy management strategy (EMS) for a single-shaft parallel hybrid electric vehicle (HEV), and build a forward co-simulation platform based on Cruise and Matlab. The vehicle dynamics model is built with Cruise, and control model is set up with Matlab/Simulink environment. The data between the two models are transferred by the Matlab API interface in Cruise. After mechanical and signal connections are completed, we establish the computing tasks and take the simulations of vehicle' s power performance, economy, and emission performance. The simulation results match the actual measurement results, which show that the co-simulation platform is correct and feasible. The platform can be used not only for a basic simulation platform to optimize further EMS, but also for the development of actual control system.展开更多
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 descri...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.展开更多
In order to analyze the energy consumption of wheel loader during working process, a three-dimensional(3D) model of wheel loader is established by Pro/E software, and it is imported into the software SimulationX tob...In order to analyze the energy consumption of wheel loader during working process, a three-dimensional(3D) model of wheel loader is established by Pro/E software, and it is imported into the software SimulationX tobuild the kinetic model of the whole wheel loader. Meanwhile, the simulation model of hydraulic system is builtby the same software. By integrating the simulation model of hydraulic system with the kinetic model, the co-sim-ulation model of wheel loader could be achieved. The precision of co-simulation model of the working device isverified through the comparison between simulation results and test results. The testing results show that, undernegative loading condition, the energy loss in multi-way valve accounts for about 52%. The important energy lossin loader's working hydraulic system using constant displacement pump is the large throttling loss of multi-wayvalves. This study provides a reference for designing of a more energy-efficient hydaulic system of wheel loader.展开更多
Research on a servo tracking system mounted with a small arm for robot fighting platform based on multi-body system dynamics and intelligent control theory is presented.A multi-body dynamic model which can accurately ...Research on a servo tracking system mounted with a small arm for robot fighting platform based on multi-body system dynamics and intelligent control theory is presented.A multi-body dynamic model which can accurately express dynamic performances of the system is built in ADAMS.In addition,an intelligent PID control model is built with MATLAB/Simulink,and the two models are integrated and co-simulated by the interface of ADAMS/Controls.Simulation experiments indicate that co-simulation technique used for design of the servo tracking system mounted with a small arm can effectively improve its design efficiency,and can also provide theoretical bases for the motion control and performance improvement of the servo tracking system mounted with a small arm.展开更多
Misalignment is one of the most common faults for the diesel engine.In order to eliminate the misalignment fault of the diesel engine in the process of operation,a targeting self-recovery regulation system is construc...Misalignment is one of the most common faults for the diesel engine.In order to eliminate the misalignment fault of the diesel engine in the process of operation,a targeting self-recovery regulation system is constructed by using a movable base and displacement sensors.Misalignment is monitored and detected in real time,the value of misalignment is calculated rapidly and accurately,andintelligent decision is made.Then,the base is moved reversely with a definite target to drive the shaft to translate or rotate,so that the shafts can be recovered to alignment online.A co-simulation model for the self-recovery system is established which consists of a dynamic model of the crankshaft system and control model.The self-recovery regulation process of misalignment is simulated.The simulation results show that the system can accurately calculate the misalignment values,with an error of less than 5%,and can automatically eliminate the misalignment fault of the diesel engine online.The research results provide theoretical support for the self-recovery regulation of misalignment fault,and due to the universality of structure and principle,the self-recovery system is not only suitable for diesel engine,but also for other rotating machineries.展开更多
Based on multi-commercial finite element analysis (FEA) software co-simulation calculating method, the electromagnetic system model was built for solving static and dynamic characteristics of a clap-type rely. Using t...Based on multi-commercial finite element analysis (FEA) software co-simulation calculating method, the electromagnetic system model was built for solving static and dynamic characteristics of a clap-type rely. Using the Fortran programming language, the solving of differential equation and the calculating of electromagnetic torque interpolation was realized, therefore the MEM coupling system static/dynamic characteristics of the relay was obtained. The validity and accuracy of this method has been confirmed by results of experiments.The conclusions which obtained are valuable in optimizing the clap-type rely production.展开更多
Micro-mobile heat pipe-cooled nuclear power plants are promising candidates for distributed energy resource power genera-tors and can be flexibly deployed in remote places to meet increasing electric power demands.How...Micro-mobile heat pipe-cooled nuclear power plants are promising candidates for distributed energy resource power genera-tors and can be flexibly deployed in remote places to meet increasing electric power demands.However,previous steady-state simulations and experiments have deviated significantly from actual micronuclear system operations.Hence,a transient analysis is required for performance optimization and safety assessment.In this study,a hardware-in-the-loop(HIL)approach was used to investigate the dynamic behavior of scaled-down heat pipe-cooled systems.The real-time features of the HIL architecture were interpreted and validated,and an optimal time step of 500 ms was selected for the thermal transient.The power transient was modeled using point kinetic equations,and a scaled-down thermal prototype was set up to avoid mod-eling unpredictable heat transfer behaviors and feeding temperature samples into the main program running on a desktop PC.A series of dynamic test results showed significant power and temperature oscillations during the transient process,owing to the inconsistency of the rapid nuclear reaction rate and large thermal inertia.The proposed HIL approach is stable and effective for further studying of the dynamic characteristics and control optimization of solid-state small nuclear-powered systems at an early prototyping stage.展开更多
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 (proportional...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.展开更多
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 subs...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.展开更多
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-orbi...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.展开更多
This paper presents a state-of-the-art review in modeling approach of hardware in the loop simulation(HILS)realization of electric machine drives using commercial real time machines.HILS implementation using digital s...This paper presents a state-of-the-art review in modeling approach of hardware in the loop simulation(HILS)realization of electric machine drives using commercial real time machines.HILS implementation using digital signal processors(DSPs)and field programmable gate array(FPGA)for electric machine drives has been investigated but those methods have drawbacks such as complexity in development and verification.Among various HILS implementation approaches,more efficient development and verification for electric machine drives can be achieved through use of commercial real time machines.As well as implementation of the HILS,accurate modeling of a control target system plays an important role.Therefore,modeling trend in electric machine drives for HILS implementation is needed to be reviewed.This paper provides a background of HILS and commercially available real time machines and characteristics of each real time machine are introduced.Also,recent trends and progress of permanent magnet synchronous machines(PMSMs)modeling are presented for providing more accurate HILS implementation approaches in this paper.展开更多
A manipulator-type docking hardware-in-the-loop(HIL)simulation system is proposed in this paper,with further development of the space docking technology and corresponding requirements of the engineering project.First,...A manipulator-type docking hardware-in-the-loop(HIL)simulation system is proposed in this paper,with further development of the space docking technology and corresponding requirements of the engineering project.First,the structure of the manipulator-type HIL simulation system is explained.The mass and the flexibility of the manipulator has an important influence on the stability of the HIL system,which is the premise of accurately simulating actual space docking.Thus,the docking HIL simulation models of rigid,flexible and flexible-light space manipulators are established.The characteristics of the three HIL systems are studied from three important aspects:the system parameter configuration relation,the system stability condition and the dynamics frequency simulation ability.The key conclusions obtained were that the system satisfies stability or reproduction accuracy.Meanwhile,the influence of different manipulators on the system stability is further analyzed.The accuracy of the calculated results is verified experimentally.展开更多
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 engine...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.展开更多
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 an...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.展开更多
基金the National Key Research and Development Program of China(Basic Research Class)(No.2017YFB0903000)the National Natural Science Foundation of China(No.U1909201).
文摘Various distributed cooperative control schemes have been widely utilized for cyber-physical power system(CPPS),which only require local communications among geographic neighbors to fulfill certain goals.However,the process of evaluating the performance of an algorithm for a CPPS can be affected by the physical target characteristics and real communication conditions.To address this potential problem,a testbed with controller hardware-in-the-loop(CHIL)is proposed in this paper.On the basis of a power grid simulation conducted using the real-time simulator RT-LAB developed by the company OPAL-RT,along with a communication network simulation developed with OPNET,multiple distributed controllers were developed with hardware devices to directly collect the real-time operating data of the power system model in RT-LAB and provide local control.Furthermore,the communication between neighboring controllers was realized using the cyber system modelin OPNET with an Ethernet interface.The hardware controllers produced a real-world control behavior instead of a digital simulation,and precisely simulated the dynamic features of a CPPS with high speed.A classic cooperative control case for active power output was studied to explain the integrated simulation process and validate the effectiveness of the co-simulation testbed.
基金This work is supported by the NationalNatural Science Foundation of China(No.52075350)the Major Science and Technology Projects of Sichuan Province(No.2022ZDZX0001)the Special City-University Strategic Cooperation Project of Sichuan University and Zigong Municipality(No.2021CDZG-3).
文摘Regarding the spatial profile extraction method of a multi-field co-simulation dataset,different extraction directions,locations,and numbers of profileswill greatly affect the representativeness and integrity of data.In this study,a multi-field co-simulation data extractionmethod based on adaptive infinitesimal elements is proposed.Themultifield co-simulation dataset based on related infinitesimal elements is constructed,and the candidate directions of data profile extraction undergo dimension reduction by principal component analysis to determine the direction of data extraction.Based on the fireworks algorithm,the data profile with optimal representativeness is searched adaptively in different data extraction intervals to realize the adaptive calculation of data extraction micro-step length.The multi-field co-simulation data extraction process based on adaptive microelement is established and applied to the data extraction process of the multi-field co-simulation dataset of the sintering furnace.Compared with traditional data extraction methods for multi-field co-simulation,the approximate model constructed by the data extracted from the proposed method has higher construction efficiency.Meanwhile,the relative maximum absolute error,root mean square error,and coefficient of determination of the approximationmodel are better than those of the approximation model constructed by the data extracted from traditional methods,indicating higher accuracy,it is verified that the proposed method demonstrates sound adaptability and extraction efficiency.
文摘In order to observe the change and fluctuation in flow and pressure of a hydraulic quadruped robot's hydraulic system when the robot walks on trot gait,a co-simulation method based on ADAMS and AMESim is proposed. Firstly,the change rule in each swing angle of the hydraulic quadruped robot's four legs is analyzed and converted to the displacement change of the hydraulic cylinder by calculating their geometric relationship.Secondly,the robot's dynamic model is built in ADAMS and its hydraulic and control system models are built in AMESim. The displacement change of the hydraulic cylinder in the hydraulic system is used as the driving function of the dynamics model in ADAMS,and the driving force of the dynamics model is used as the loads of the hydraulic system in AMESim. By introducing the PID closed-loop control in the control system,the co-simulation between hydraulic system and mechanical system is implemented. Finally,the curve of hydraulic cylinders' loads,flow and pressure are analyzed and the results show that they fluctuate highly in accordance with the real situation. The study provides data support for the development of a hydraulic quadruped robot's physical prototype.
文摘To study the durability of a passenger car, this work investigates numerical simulation techniques. The investigations are based on an explicit implicit approach in which substructure techniques are used to reduce the simulation time, allowing full vehicle dynamic analyses to be performed on a timescale that is dif cult or impossible with the conventional nite element model (FEM). The model used here includes all necessary nonlinearities in order to maintain accuracy. All key components of the car structure are modeled with deformable materials. Tire road interactions are modeled in the explicit package with contact-impact interfaces with arbitrary frictional and geometric properties. Key parameters of the responses of the car driven on six different kinds of test road surfaces are examined and compared with experimental values. It can be concluded that the explicit implicit co-simulation techniques used here are ef cient and accurate enough for engineering purposes. This paper also discusses the limitations of the proposed method and outlines possible improvements for future work.
基金supported by design of the ITER transfer casks system (ITER International Team) ITA 23-01-CNthe Key Laboratory of Biomimetic Sensing and Advanced Robot Technology,Anhui Province,China
文摘The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.
基金Supported by the National High Technology Research and Development Program of China("863"Program),(2011AAllA252)
文摘We reversely analyzed the energy management strategy (EMS) for a single-shaft parallel hybrid electric vehicle (HEV), and build a forward co-simulation platform based on Cruise and Matlab. The vehicle dynamics model is built with Cruise, and control model is set up with Matlab/Simulink environment. The data between the two models are transferred by the Matlab API interface in Cruise. After mechanical and signal connections are completed, we establish the computing tasks and take the simulations of vehicle' s power performance, economy, and emission performance. The simulation results match the actual measurement results, which show that the co-simulation platform is correct and feasible. The platform can be used not only for a basic simulation platform to optimize further EMS, but also for the development of actual control system.
文摘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.
文摘In order to analyze the energy consumption of wheel loader during working process, a three-dimensional(3D) model of wheel loader is established by Pro/E software, and it is imported into the software SimulationX tobuild the kinetic model of the whole wheel loader. Meanwhile, the simulation model of hydraulic system is builtby the same software. By integrating the simulation model of hydraulic system with the kinetic model, the co-sim-ulation model of wheel loader could be achieved. The precision of co-simulation model of the working device isverified through the comparison between simulation results and test results. The testing results show that, undernegative loading condition, the energy loss in multi-way valve accounts for about 52%. The important energy lossin loader's working hydraulic system using constant displacement pump is the large throttling loss of multi-wayvalves. This study provides a reference for designing of a more energy-efficient hydaulic system of wheel loader.
基金Sponsored by the Independent Research Foundation of State Key Laboratory(ZDKT08-05)the Ministerial Level Research Foundation(06104040)
文摘Research on a servo tracking system mounted with a small arm for robot fighting platform based on multi-body system dynamics and intelligent control theory is presented.A multi-body dynamic model which can accurately express dynamic performances of the system is built in ADAMS.In addition,an intelligent PID control model is built with MATLAB/Simulink,and the two models are integrated and co-simulated by the interface of ADAMS/Controls.Simulation experiments indicate that co-simulation technique used for design of the servo tracking system mounted with a small arm can effectively improve its design efficiency,and can also provide theoretical bases for the motion control and performance improvement of the servo tracking system mounted with a small arm.
基金National Natural Science Foundation of China(No.52101343)the Doubule First-rate Construction Special Funds(No.ZD1601)。
文摘Misalignment is one of the most common faults for the diesel engine.In order to eliminate the misalignment fault of the diesel engine in the process of operation,a targeting self-recovery regulation system is constructed by using a movable base and displacement sensors.Misalignment is monitored and detected in real time,the value of misalignment is calculated rapidly and accurately,andintelligent decision is made.Then,the base is moved reversely with a definite target to drive the shaft to translate or rotate,so that the shafts can be recovered to alignment online.A co-simulation model for the self-recovery system is established which consists of a dynamic model of the crankshaft system and control model.The self-recovery regulation process of misalignment is simulated.The simulation results show that the system can accurately calculate the misalignment values,with an error of less than 5%,and can automatically eliminate the misalignment fault of the diesel engine online.The research results provide theoretical support for the self-recovery regulation of misalignment fault,and due to the universality of structure and principle,the self-recovery system is not only suitable for diesel engine,but also for other rotating machineries.
文摘Based on multi-commercial finite element analysis (FEA) software co-simulation calculating method, the electromagnetic system model was built for solving static and dynamic characteristics of a clap-type rely. Using the Fortran programming language, the solving of differential equation and the calculating of electromagnetic torque interpolation was realized, therefore the MEM coupling system static/dynamic characteristics of the relay was obtained. The validity and accuracy of this method has been confirmed by results of experiments.The conclusions which obtained are valuable in optimizing the clap-type rely production.
基金This work was financially supported by the National Key R&D Program of China(No.2020YFB1901900)National Natural Science Foundation of China(No.12275175)+2 种基金Special Fund for Strengthening Industry of Shanghai(No.GYQJ-2018-2-02)Shanghai Rising Star Program(No.21QA1404200)the LingChuang Research Project of the China National Nuclear Corporation.
文摘Micro-mobile heat pipe-cooled nuclear power plants are promising candidates for distributed energy resource power genera-tors and can be flexibly deployed in remote places to meet increasing electric power demands.However,previous steady-state simulations and experiments have deviated significantly from actual micronuclear system operations.Hence,a transient analysis is required for performance optimization and safety assessment.In this study,a hardware-in-the-loop(HIL)approach was used to investigate the dynamic behavior of scaled-down heat pipe-cooled systems.The real-time features of the HIL architecture were interpreted and validated,and an optimal time step of 500 ms was selected for the thermal transient.The power transient was modeled using point kinetic equations,and a scaled-down thermal prototype was set up to avoid mod-eling unpredictable heat transfer behaviors and feeding temperature samples into the main program running on a desktop PC.A series of dynamic test results showed significant power and temperature oscillations during the transient process,owing to the inconsistency of the rapid nuclear reaction rate and large thermal inertia.The proposed HIL approach is stable and effective for further studying of the dynamic characteristics and control optimization of solid-state small nuclear-powered systems at an early prototyping stage.
基金the National Natural Science Foundation of China (60604009)Aeronautical Science Foundationof China(2006ZC51039)Beijing NOVA Program (2007A017).
文摘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.
基金supported by National Natural Science Foundation of China(Grant No.50908008)National Hi-tech Research and Development Program of China(863Program,Grant No.2009AA11Z216)
文摘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.
文摘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.
基金supported in part by the National Research Foundation of Korea(NRF)grant funded by Korea government(No.2020R1C1C1013260)in part by INHA UNIVERSITY Research Grant.
文摘This paper presents a state-of-the-art review in modeling approach of hardware in the loop simulation(HILS)realization of electric machine drives using commercial real time machines.HILS implementation using digital signal processors(DSPs)and field programmable gate array(FPGA)for electric machine drives has been investigated but those methods have drawbacks such as complexity in development and verification.Among various HILS implementation approaches,more efficient development and verification for electric machine drives can be achieved through use of commercial real time machines.As well as implementation of the HILS,accurate modeling of a control target system plays an important role.Therefore,modeling trend in electric machine drives for HILS implementation is needed to be reviewed.This paper provides a background of HILS and commercially available real time machines and characteristics of each real time machine are introduced.Also,recent trends and progress of permanent magnet synchronous machines(PMSMs)modeling are presented for providing more accurate HILS implementation approaches in this paper.
基金Supported by the National Natural Science Foundation of China(51475116)。
文摘A manipulator-type docking hardware-in-the-loop(HIL)simulation system is proposed in this paper,with further development of the space docking technology and corresponding requirements of the engineering project.First,the structure of the manipulator-type HIL simulation system is explained.The mass and the flexibility of the manipulator has an important influence on the stability of the HIL system,which is the premise of accurately simulating actual space docking.Thus,the docking HIL simulation models of rigid,flexible and flexible-light space manipulators are established.The characteristics of the three HIL systems are studied from three important aspects:the system parameter configuration relation,the system stability condition and the dynamics frequency simulation ability.The key conclusions obtained were that the system satisfies stability or reproduction accuracy.Meanwhile,the influence of different manipulators on the system stability is further analyzed.The accuracy of the calculated results is verified experimentally.
基金Sponsored by the Ministerial Level Advanced Research(10660060220)
文摘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.
基金Supported by the National Natural Science Foundation of China (61101129)Specialized Research Fund for the Doctoral Program of Higher Education(20091101110019)
文摘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.