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.

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

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

Hardware-in-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.

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.

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

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

Hardware-in-the-Loop Simulation of Vibration Control of Stay Cables with Damper Based on dSPACE System

A simple and economical method based on dSPACE system is developed to measure the effect of cable vibration control.The experiments,numerical simulation and hardware-in-the-loop(HIL)simulation are carried out for the vibration control of stay cables with dampers.Firstly,the test results of solid cable vibration under harmonic excitation are compared with the numerical simulation results of cable vibration to ensure the correctness of the simulation of cable module.Then,the vibration test results of solid cable with damper under harmonic excitation are compared with the numerical simulation results of solid cable with damper to ensure the correctness of the relevant modules.Finally,the external load and the cable are imported into the real-time simulation system to simulate the control effect of the damper under the current excitation in real time.The results show that the simulation is correct and the HIL simulation is feasible in the bridge engineering.

基于云仿真平台的医院HIS系统数据安全多方计算协议

考虑到传统协议在医院HIS系统中存在丢包率高、运行时间长和计算复杂度高的问题,提出了基于云仿真平台的医院HIS系统数据安全多方计算协议。利用云仿真平台,从风险等级和风险概率等方面,评估了医院HIS系统数据的安全风险;根据医院HIS系统数据安全信息的属性取值,优化了医院HIS系统数据的分类属性;结合医院HIS系统数据安全信息的提取模型,设计医院HIS系统数据安全多方计算协议。实验结果表明,该方法可以降低丢包率、缩短运行时间并降低计算复杂度,保证了医院HIS系统中数据的安全性。

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.

碘硫循环制氢中HI浓缩精馏的模拟

针对碘硫循环制氢中碘化氢(HI)浓缩分离的精馏问题,选用NRTL(Non-Random Two-Liquids)模型来修正HI-I2-H2O三元混合体系的液相非理想性。结合H2O-HI、H2O-I2和HI-I2体系气液相平衡的实验数据,采用极大似然法关联该三组体系NRTL模型表达式中的二元交互作用参数。基于已确定参数的NRTL热力学模型,借助模拟软件Aspen Plus对HI浓缩精馏塔进行模拟设计,并通过灵敏度分析,分别考察了HI精馏塔的塔板数、回流比、进料组分等关键操作参数对分离效果和能耗的影响,得到了优化后的操作参数,为工业碘硫循环制氢过程工艺研究提供理论基础和指导。

新型真核表达质粒pcDNA6/myc-his-EGFP B的构建及其在重组基因表达中的应用(英文)

增强型绿色荧光蛋白(EGFP, enhanced green fluorescent protein)、myc抗原和6×His已在众多真核表达载体中用作重组蛋白的表达标记,EGFP能发出的绿色荧光,myc抗原能用相应的抗体检测,6×His能被相应的树脂特异吸附。但目前为止,没有一个质粒表达载体能够同时整合三者的功能。本研究构建了一个能够同时整合EGFP、myc抗原和6×His功能的新型真核质粒表达载体,我们将其命名为pcDNA6/myc-his-EGFP B。值得注意的是,为确保目的基因与EGFP基因融合表达后,融合表达产物各组成部分能够保持原有的生物活性,我们运用LINKER程序在EGFP基因的5’端设计了一段编码八肽的连接DNA序列。将一段含有人白细胞介素2(IL-2, humaninterleukin 2)信号肽编码序列的基因亚克隆进pcDNA6/myc-his-EGFP B的多克隆位点中,使之与EGFP、myc抗原和6×His融合表达,构建成质粒pMHES。用pcDNA6/myc-his-EGFP B和pMHES转染2.2.15细胞,48h后成功观察到绿色荧光;用pcDNA6/myc-his-EGFP B尾静脉注射Balb/c小鼠,8h后在小鼠肝脏冰冻切片中同样观察到绿色荧光。用同源建模软件Modeller8V2模拟IL-2与EGFP、myc抗原和6×His融合表达产物的三维结构,结果表明:IL-2、EGFP、myc和6×His各部分互不干扰,连接八肽具有一定的柔性。以上结果表明pcDNA6/myc-his-EGFP B可望作为外源基因在哺乳动物细胞中表达研究和基因治疗的新型载体。

Shifting Rule Modification Strategy of Automatic Transmission Based on Driver-vehicle-road Environment

Accidental or frequent shift often occurs when the shifting rule is built based on traditional two parameters （i.e., velocity and throttle）, because the speed of engine varies slower than change of throttle opening. Currently, modifying shift point velocity value or throttle by throttle change rate is one of common methods, but the results are not so satisfactory in some working condition such as uphill. The reason is that these methods merely consider throttle change rate which is not enough for a car driving in driver-vehicle-road environment system. So a novel fuzzy control modification strategy is proposed to avoid or reduce those abnormal shift actions. It can adjust shifting rule by the change rate of throttle, current gear position and road environment information, while different gear position and driving environment get corresponding modification value. In order to compare the results of shifting actions, fuel consumption and braking distance, emergent braking in level road and extra-urban driving cycle（EUDC） working conditions with fuzzy shifting schedule modification strategy are simulated digitally. Furthermore, a hardware-in-the-loop simulation platform is introduced to verify its effect in slope road condition according to the ON/OFF numbers of solenoid valve in hydraulic system. The simulation results show that the problem of unexpected shift in those working conditions may be resolved by fuzzy modification strategy. At last, it is concluded that although there is some slight decline in power performance in uphill situation, this fuzzy modification strategy could correctly identify slope of road, decrease braking distance, improve vehicle comfort and fuel economy effectively and prolong the life of clutch system. So, this fuzzy logic shifting strategy provides important references for vehicle intelligent shifting schedule.

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.

SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS:PART III—EXPERIMENTAL VALIDATION

A hardware-in-the-loop （HIL） test and simulation platform is developed in the laboratory, so as to validate the performance characteristics of the proposed skyhook-based asymmetric semi-active controller in Part I, and examine the validity of the proposed MR-damper model in a system surrounding. A real-time monitor is designed to assess and monitor the responses of the quarter-vehicle model in the HIL platform, and to select the excitation, controller synthesis, and the output displays. A drive current circuit hardware employing PID feedback technique is developed to compensate for the time delays from the servo-controller and drive current circuit, in which a small resistance is integrated in the current amplifier circuit to provide the feedback signal. The experiments were performed to measure the responses of the quarter-vehicle MR-suspension models with fixed current and the proposed semi-active MR-damping variations, under harmonic, rounded pulse and random road excitations. The measured data were compared with the corresponding model results to examine the model and controller validity, and revealed generally good agreements in the model and tested results and very little sensitivity of the tested responses to variations in the sprung mass. The HIL test results validate the effectiveness of the proposed skyhook-based semi-active asymmetric controller and its high robustness against the vehicle load variations in view of the intelligent vehicle suspension design.

模拟CSP试制0.42%Cu Hi-B钢初次再结晶退火工艺试验

试验0.42%Cu Hi—B钢(/%:0.10C,3.25Si,0.16Mn,0.019P,0.011S,0.021Als,0.42Cu)由实验室感应炉熔炼,浇铸成15 kg锭,开坯成60 mm方坯,再经5道次热轧成3.95 mm板;试样为经压下率88%的0.48 mm冷轧板。冷轧板经830、850、870℃,3、5、7 min退火。对退火后的样品进行组织检验以及织构分析。实验结果表明,850℃5 min退火时,样品平均晶粒尺寸为14.49μm,偏差角为15°时,{111}<112>、{111}<110>等有利织构含量较多,而{001}<110>、{110}<112>等不利织构含量较少。850℃5 min退火为本实验冷轧板的最佳初次再结晶退火工艺。

LTE-Hi高阶星座调制性能研究

在室内/热点区域场景下,由于终端与基站之间信道质量良好,因此可以考虑引入高阶星座调制以提高频谱效率。基于一种MCS/TBS/CQI配置,对多种Small Cell场景进行引入256QAM的系统级仿真,并通过仿真结果来对比在不同场景中,引入256QAM和采用原有调制方式对用户吞吐量、频谱效率等多项指标的影响。仿真结果初步表明,在Small Cell scenario 3稀疏场景下,引入256QAM后将对系统产生较大增益。

医学信息工程专业中HIS课程设计的思考

本文从教学现状、教学目标、师资力量的培养、理论课的教学方法、实践课的教学方法这几方面总结了现有的HIS课程建设意见,并根据本校的实验条件、课程设置及在公司的实习经历对HIS课程设计的实践教学部分作具体的介绍,包括HIS仿真实验系统的流程及数据库操作部分、HIS模块开发的训练、医院信息化系统管理的训练。

初次再结晶退火对模拟CSP含Cu Hi-B硅钢组织和织构的影响

在实验室用模拟CSP工艺试制Hi-B高磁感取向硅钢薄板（/%：0.07C,3.02Si,0.13Mn,0.020P,0.006S,0.21Cu,0.025Cr,0.016A1,0.004Sn）,该钢经25 kg真空感应炉熔炼,铸成41 mm×120 mm板坯-热轧成2mm板-1 120℃常化-冷轧成0.27 mm薄板。研究了830~870℃,3~7 min退火对再结晶组织和织构的影响。结果表明,0.27 mm含Cu Hi-B高磁感取向硅钢板的合适退火工艺为830℃5 min,其平均晶粒尺寸为15.6μm,不利织构{111}〈110〉和{001}〈110〉含量较低,有利织构{111}〈112〉分布合理,有利于在二次再结晶退火过程形成良好的高斯组织。

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.