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.

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.

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.

Dynamics simulation of the belt conveyor possessing feedback loop during starting

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

Study on Hardware-in-loop Simulation of Twin-screw Extruder Experiment System

In order to facilitate the teaching of industrial processes and experiments on the twin-screw extruder control debugging,and be closer to the actual testing,to reduce the debugging costs and the risk of debugging process,the paper designs a hardware-in-loop simulation of twin-screw extruder experiment system which is closer to scene,low cost and high safety.The system through the establishment of twin-screw extruder’s mathematical model on computer to simulate the realistic system and there is hardware practicality in the computer simulation loop.The hardware based on C8051F020 can operate in the simulation loop in real time.In computer software design, we desigh man-machine interface that is intuitive and easy to operate,can reflect twin-screw extruder main operation information vividly.Finally,twin-screw extruder’s 3 heater temperature mathematical model and PID incremental control algorithm are presented.

Matlab Based Human & Hardware-in-Loop Simulation for the Study on Vehicle Stability Control

This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.

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

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

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.

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.

Application of Hardware-in-loop Simulation in Electronic Governor Development

By building a turbine charged diesel engine model and a proportional electromagnet-rack model in Matlab/Simulink and using dSPACE,a hardware-in-loop(HIL) simulation platform for the electronic governor is constructed.A developed electronic governor is simulated in this platform.The comparison between the experiment and simulation results indicates that the built models can meet the HIL requirements.The control parameters obtained from virtual calibration and the control algorithm validated by HIL simulation can be applied in real bench experiments directly.

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

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

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.

Microscopic mechanism study and process optimization of dimethyl carbonate production coupled biomass chemical looping gasification system

Biomass chemical looping gasification technology is one of the essential ways to utilize abundant biomass resources.At the same time,dimethyl carbonate can replace phosgene as an environmentfriendly organic material for the synthesis of polycarbonate.In this paper,a novel system coupling biomass chemical looping gasification with dimethyl carbonate synthesis with methanol as an intermediate is designed through microscopic mechanism analysis and process optimization.Firstly,reactive force field molecular dynamics simulation is performed to explore the reaction mechanism of biomass chemical looping gasification to determine the optimal gasification temperature range.Secondly,steady-state simulations of the process based on molecular dynamics simulation results are carried out to investigate the effects of temperature,steam to biomass ratio,and oxygen carrier to biomass ratio on the syngas yield and compositions.In addition,the main energy indicators of biomass chemical looping gasification process including lower heating value and cold gas efficiency are analyzed based on the above optimum parameters.Then,two synthesis stages are simulated and optimized with the following results obtained:the optimal temperature and pressure of methanol synthesis stage are 150℃ and 4 MPa;the optimal temperature and pressure of dimethyl carbonate synthesis stage are 140℃ and 0.3 MPa.Finally,the pre-separation-extraction-decantation process separates the mixture of dimethyl carbonate and methanol generated in the synthesis stage with 99.11%purity of dimethyl carbonate.Above results verify the feasibility of producing dimethyl carbonate from the perspective of multi-scale simulation and realize the multi-level utilization of biomass resources.

Numerical Simulation and Experimental Analysis of the Influence of Asymmetric Pressure Conditions on the Splitting of a Gas-Liquid Two-Phase Flow at a T-Junction

Dedicated experiments and numerical simulations have been conducted to investigate the splitting characteristics of a gas-liquid two phase flow at a T junction.The experiments were carried out for different gas-liquid velocities.The flow rates in the two branches were measured accurately to determine how the two considered phases distribute in the two outlets.The experimental results have shown that when the two outlet pressures are asymmetric,the two-phase flow always tends to flow into the outlet which has a lower pressure.As the inlet liquid velocity increases,however,the two-phase flow gradually tends to split evenly.Compared with the experiment results,the pressure difference between the two outlets can be determined more accurately by means of numerical simulation.The trends of experimental results and simulations are in very good agreement.

Liquid chemical looping gasification of biomass:Thermodynamic analysis on cellulose

Liquid chemical looping technology is an innovation of chemical looping conversion technology.Using liquid metal oxide as the oxygen carrier during gasification process could prolong the service life of oxygen carrier and improve the process efficiency.In this paper,based on Gibbs minimum free energy method,the thermodynamic characteristics of biomass liquid chemical looping gasification were studied.Cellulose and lignin,the main components of biomass,were taken as the research objects.Bismuth oxide and antimony oxide were selected as liquid oxygen carriers.The results showed that when the temperature increased from 600℃to 900℃,the output of H_(2)and CO in the products of cellulose gasification increased from 0.5 and 0.3 kmol to 1.3 and 2.6 kmol respectively.Different ratios of oxygen carriers to gasification raw materials had the best molar ratio.The addition of steam in the system was beneficial to the increase of H_(2)content and the increase of H_(2)/CO molar ratio.Bi_(2)O_(3)and Sb_(2)O_(3)with different mass ratios were used as mixed oxygen carriers.The simulation results showed that the gasification temperature of biomass with different mixed oxygen carriers had the same equilibrium trend products.It could be seen from the results of product distribution that the influence of the mixing ratio of Bi_(2)O_(3)and Sb_(2)O_(3)on gas product distribution could be neglected.These results could provide simulation reference and data basis for subsequent research on liquid chemical looping gasification.

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

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

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.

Numerical Study of Thermal Performance of a Capillary Evaporator in a Loop Heat Pipe with Liquid-Saturated Wick

Heat transfer of a capillary evaporator in a loop heat pipe was analyzed through 3D numerical simulations to study the effects of the thermal conductivity of the wick, the contact area between the casing and the wick, and the subcooling in the compensation chamber (CC) on the thermal performance of the evaporator. A pore network model with a distribution of pore radii was used to simulate liquid flow in the porous structure of the wick. To obtain high accuracy, fine meshes were used at the boundaries among the casing, the wick, and the grooves. Distributions of temperature, pressure, and mass flow rate were compared for polytetra-fluoroethylene (PTFE) and stainless steel wicks. The thermal conductivity of the wick and the contact area between the casing and the wick significantly impacted thermal performance of the evaporator heat-transfer coefficient and the heat leak to the CC. The 3D analysis provided highly accurate values for the heat leak;in some cases, the heat leaks of PTFE and stainless steel wicks showed little differences. In general, the heat flux is concentrated at the boundaries between the casing, the wick, and the grooves;therefore, thermal performance can be optimized by increasing the length of the boundary.

A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs

This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.