X-In-the-Loop Methodology and Simulation Platform For Controller Development of Gravity-1

The Gravity-1(YL-1) launch vehicle has been extensively optimized in terms of its overall layout which in turn has increased the functional and performance demands on the control system. To thoroughly validate and verify the control system, the X-In-the-Loop simulation methodology was implemented from the verification of the YL-1's concept phase. Throughout the entire development cycle, from the initial concept demonstration to the flight test,simulations under sevral modes including Model-in-the-Loop(MiL), Software-in-the-Loop(SiL) and Hardware-in-theLoop(HiL) were executed following the V-V process which ensuring the correctness and robustness of the control system. Specifically, MiL simulation are primarily used to verify the accuracy and robustness of the control strategies and parameters. SiL simulation focused on verifying the correctness of the code implementation. Whereas HiL testing mainly checked the operational correctness of the flight control hardware, the compatibility of flight control software within the flight control computer and the correctness of hardware I/O. In addition to these, further semi-physical simulations were possible on the HiL platform by replacing models of controlled objects with real devices such as IMUs and TVC actuators. And realistic flight conditions were replicated through turntables, TVC actuator loading tables etc.to achieve a more comprehensive validation and verification of the control system.

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.

Digital Simulation Platform for Satellite Launch Mission Verification

To simulate the satellite launch mission under a general platform which could be used in a full-digital mode as well as in a semi-physical way, is an important way to certify the mission design performance as well as technical feasibilities, and it relates to complex system simulation methods such as multi-disciplinary coupling, multi-language modeling as well as interactive simulation and virtual simulation technologies. This paper introduces the design of a digital simulation platform for satellite launch mission verification.The platform has the advantages of high generality and extensibility, being easy to build up. The Functional Mockup Interface(FMI) Standard is adopted to achieve integration of multi-source models. A WebGL based 3D visual simulation tool is also adopted to implement the virtual display system which could display the rocket launch process and rocket-satellite separation with high fidelity 3D virtual scenes. A configuration tool was developed to map the 3D objects in the visual scene with simulation physical variables for complex rocket flight control mechanisms, which greatly improves the platform's generality and extensibility. Finally the real-time performance had been tested and the YL-1 launch mission was adopted to demonstrate the functions of the platform.The platform will be used to construct a digital twin system for satellite launch missions in the future.

Forward Dynamics Analysis of the 6-PUS Mechanism Based on Platform-Legs Composite Simulation

The dynamics analysis plays an important role for the control, simulation and optimization of the parallel manipulators. Normally, the Stewart type manipulators have a platform and several legs. The inverse dynamics can be solved efficiently by taking the advantage of such structural characteristics. However, for the forward dynamics analysis, this structural decomposition still faces challenges from both modeling and computation. In this paper, an efficient approach is proposed for the forward dynamics of the 6-PUS manipulator based on the platform-legs composite simulation. By composite method, the dynamics modeling of the parallel manipulator is separated into the forward dynamics of the platform and the kineto-statics of the legs. The global simulation model can be constructed by connecting the predefined platform model and leg models according to the manipulator＇s topology. Thus, the global simulation can be decomposed into the independent calculations of purely algebraic equations and ordinary differential equations （ODEs）, the computational cost can be reduced and the stability of the simulation can be improved. For the purpose of solving the manipulator＇s forward dynamics accurately, the algebraic-loop problem is discussed and a closed form algorithm is proposed. A numerical example of the 6-PUS manipulator is given to demonstrate the effectiveness of the proposed approach. The example results show that the modeling efficiency can be improved and the simulation stability can be ensured for decomposing the system equations into purely algebraic equations and ODEs.

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.

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.

Studyon hardware-in-the-loopsimulation of beer fermentation system

Beer fermentation process is a complex biochemical reaction process.It is the most important to control temperature of the wort in fermentation tank in accordance with the beer fermentation temperature curve so as to ensure the completion of fermentation.The controlled object is characterized by large inertia,long time delay and mutual coupling of three temperature areas.Based on this,a temperature control method for beer fermentation system is designed.Using digital incremental proportion integration differentiation （PID） control algorithm,the controlled quantity is transmitted to the controlled object after diagonal matrix decoupling.This simulation system can be completed in laboratory using VB and Kingview software,so it has the features of good security and low cost.It is very suitable for experimental teaching.

Real-time hybrid simulation of structures equipped with viscoelastic-plastic dampers using a user-programmable computational platform

A user-programmable computational/control platform was developed at the University of Toronto that offers real-time hybrid simulation （RTHS） capabilities. The platform was verified previously using several linear physical substructures. The study presented in this paper is focused on further validating the RTHS platform using a nonlinear viscoelastic-plastic damper that has displacement, frequency and temperature-dependent properties. The validation study includes damper component characterization tests, as well as RTHS of a series of single-degree-of-freedom （SDOF） systems equipped with viscoelastic-plastic dampers that represent different structural designs. From the component characterization tests, it was found that for a wide range of excitation frequencies and friction slip loads, the tracking errors are comparable to the errors in RTHS of linear spring systems. The hybrid SDOF results are compared to an independently validated thermal- mechanical viscoelastic model to further validate the ability for the platform to test nonlinear systems. After the validation, as an application study, nonlinear SDOF hybrid tests were used to develop performance spectra to predict the response of structures equipped with damping systems that are more challenging to model analytically. The use of the experimental performance spectra is illustrated by comparing the predicted response to the hybrid test response of 2DOF systems equipped with viscoelastic-plastic dampers.

An agent-based simulation with NetLogo platform to evaluate forward osmosis process(PRO Mode)

Forward osmosis(FO), as an emerging technology, is influenced by different factors such as operating conditions,module characteristics, and membrane properties. The general aim of this study was to develop a suitable(flexible,comprehensive, and convenient to use) computational tool which is able to simulate osmosis through an asymmetric membrane oriented in pressure retarded osmosis(PRO) mode in a wide variety of scenarios. For this purpose, an agent-based model was created in NetLogo platform, which is an easy-to-use application environment with graphical visualization abilities and well suited for modeling a complex system evolving over time. The simulation results were validated with empirical data obtained from literature and a great agreement was observed. The effect of various parameters on process performance was investigated in terms of temperature,cross-flow velocity, length of the module, pure water permeability coefficient, and structural parameter of the membrane. Results demonstrated that the increase in all parameters, except structural parameter of the membrane and the length of module led to the increase of average water flux. Moreover, nine different draw solutes were selected in order to assess the influence of net bulk osmotic pressure difference between the draw solution(DS) and feed solution(FS)(known as the driving force of FO process) on water flux. Based on the findings of this paper, the performance of FO process(PRO mode) can be efficiently evaluated using the NetL ogo platform.

Numerical Simulation of Float-Over Installation for Offshore Platform

In this paper,a numerical investigation of a float-over installation for an offshore platform is presented to verify the feasibility of the actual installation.The hydrodynamic performance of a T-barge is investigated in the frequency domain,and the coupled motions are analyzed in the time domain.We then compare with those of the model test and determine that the response amplitude operator and the time series agree quite well.The barge exhibits favorable hydrodynamic behavior in the considered sea state,and the equipment loads are allowable.Themooring systemand sway fender forces are within the permissible range.Based on these results,we can verify that the actual installation of the offshore platform is feasible.We accurately simulated many important factors and effectively reduced the risk associated with the offshore installation,which is of great importance.As such,we demonstrate that the numerical simulation of the float-over installation for offshore platforms has practical engineering significance.

Hardware-in-the-Loop Simulation System for Space Manipulator Docking: Model,Stability and Experimental Evaluation

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.

Research on hydraulic wind turbine semi-physical simulation platform

According to a research on the 30kVA simulation experimental platform of hydraulic wind tur- bine, its basic structure, composition and operation principle are expounded in this paper. An in- verter motor is used to simulate the wind turbine, while a similarity calculation method is applied be- tween the small and large wind turbine. A fixed displacement pump-variable motor closed loop is used as the main transmission system, and a self-excited synchronous generator generates electricity through the grid connection. The experiment and simulation study on the speed and power control of the hydraulic wind turbine is conducted, based on the experimental platform, thus correctness and progressiveness of the experiment platform is further verified. The experimental platform study lays a foundation for further research on the characteristics of hydraulic wind turhln~

6-DOF Motion Assessment of A Hydrodynamic Numerical Simulation of A Semisubmersible Platform Using Prototype Monitoring Data

Hydrodynamic numerical simulations are used to conduct structural analyses and inform the design of engineered marine structures.In this paper,a hydrodynamic numerical model of“Nanhai Tiaozhan”(NHTZ)FPS platform was established according to its design specifications.The model was assessed with two sets of field monitoring data representing harsh and conventional sea states.The motion responses of the platform according to the measured data and the hydrodynamic simulation were compared by reviewing their statistical characteristics,distributions,and spectrum characteristics.The comparison showed that the hydrodynamic model could correctly simulate the frequency domain characteristics of the motion responses of the platform.However,the simulation underestimated the reciprocating motions of the floating body and the influence of slow drift on the motion of the platform.Meanwhile,analysis of the monitoring data revealed that the translational degrees of freedom(DOF)and rotational DOF of the platform were coupled,but these coupled motion states were not apparent in the hydrodynamic simulation.

Optimal Design of the Superstructure of an Offshore Tourism Platform by Using Numerical Simulation

This paper aims to reduce the wind resistance of the self-designed offshore tourism platform by optimizing its superstructure,and a transparent shape design is finally suggested.A numerical simulation was performed to calculate the wind load on the platform to test the effect of wind resistance reduction.Two original scale models(sealed and transparent)were established in accordance with the design requirements.The numerical simulation uses the FLUENT software combined with the built-in self-compiled user-defined function(UDF).The stochastic wind was also applied on the basis of the Davenport wind spectrum.The detached eddy simulation(DES)model was used to solve the NS equation.Numerical simulation results show that the wind resistance reduction for the transparent shape model is subtle in the horizontal direction but can effectively reduce the drag force and moment in the vertical direction.Moreover,the force variation of the transparent shape model under different wind attack angles decreases,which reduces the wind load fluctuations.

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.

基于PLCSIM Advanced和Simulink的自动化生产线仿真实训平台设计

为解决自动化生产线实训线下课程实验硬件套数不足、实验时长和场地受限等问题,提升教学质量,设计了一种基于PLCSIM Advanced和Simulink的自动化生产线仿真实训平台。该仿真平台以实训设备为依托,使用Simulink搭建被控对象仿真模型,在PLCSIM Advanced仿真控制器中编写控制算法,通过应用程序接口(application programming interface,API)通信实现对象模型与控制器间数据的实时交换和仿真。以纸张张力控制设备为例,介绍了仿真实训平台搭建和实施过程。实践教学表明,该仿真平台提高了自动化生产线实训课程的教学成效,激发了学生实践学习的兴趣,提升了学生发现、解决复杂工程问题的能力,让学生深刻体会到团队合作和有效沟通的重要性。

Analysis of the Oscillating Mechanism of an Aerial Work Platform Based on ADAMS Hydraulic-Mechanical Coupling Simulation

Rigid model of the aerial work platform and hydraulic model of the oscillating mechanism were established with ADAMS. The simulation of two parameters, cy-linder force and oil chamber pressure, was carried out. The simulation result is useful to the design of the oscillating mechanism.

Dynamic Analysis of a 10 MW Floating Offshore Wind Turbine Considering the Tower and Platform Flexibility

Recently,semisubmersible floating offshore wind turbine technologies have received considerable attention.For the coupled simulation of semisubmersible floating offshore wind energy,the platform is usually considered a rigid model,which could affect the calculation accuracy of the dynamic responses.The dynamic responses of a TripleSpar floating offshore wind turbine equipped with a 10 MW offshore wind turbine are discussed herein.The simulation of a floating offshore wind turbine under regular waves,white noise waves,and combined wind-wave conditions is conducted.The effects of the tower and platform flexibility on the motion and force responses of the TripleSpar semisubmersible floating offshore wind turbine are investigated.The results show that the flexibility of the tower and platform can influence the dynamic responses of a TripleSpar semisubmersible floating offshore wind turbine.Considering the flexibility of the tower and platform,the tower and platform pitch motions markedly increased compared with the fully rigid model.Moreover,the force responses,particularly for tower base loads,are considerably influenced by the flexibility of the tower and platform.Thus,the flexibility of the tower and platform for the coupled simulation of floating offshore wind turbines must be appropriately examined.

基于Simulink的六自由度磁悬浮运动台的建模与仿真

动力学分析是运动装置设计过程中一项重要的内容。针对六自由度磁悬浮运动台,建立了基于牛顿力学的运动微分方程,分析了带有允余自由度的位置测量和计算方法、六自由度解耦多轴闭环反馈控制方法。基于Simulink软件,利用Simscape(物理模型)中的Multibody模块搭建了运动台的动力学模型和测量系统模型,通过控制模块建立了运动台的控制系统模型,将两者结合起来组成了能够按照设定轨迹运动的动力学仿真模型。为运动台设置加速度为2.4g的96场曝光轨迹,仿真得到运动台的各个电机在各个方向上的出力。该仿真模型搭建过程为多自由度运动装置的动力学分析提供参考。

Database application platform for earthquake numerical simulation

Introduction In recent years, all kinds of observation networks of seismology have been established, which have been continuously producing numerous digital information. In addition, there are many study results about 3D velocity structure model and tectonic model of crust （Huang and Zhao, 2006; Huang et al, 2003; Li and Mooney, 1998）, which are valuable for studying the inner structure of the earth and earthquake preparation process. It is badly needed to combine the observed data, experimental study and theoretical analyses results by the way of numerical simulation and develop a database and a corresponding application platform to be used by numerical simulation, and is also a significant way to promote earthquake prediction.