Realization of nonlinear PID with feed-forward controller for 3-DOF flight simulator and hardware-in-the-loop simulation

As friction, intrinsic steady-state nonlinearity poses a challenging dilemma to the control system of 3-DOF （three degree of freedom） flight simulator, a novel hybrid control strategy of nonlinear PID （proportionalintegral-derivative） with additional FFC （feed-forward controller） is proposed, and the hardware-in-the-loop simulation results are also given. Based on the description of 3-DOF flight simulator, a novel nonlinear PID theory is well introduced. Then a nonlinear PID controller with additional FFC is designed. Subsequently, the loop structure of 3-DOF flight simulator is also designed. Finally, a series of hardware-in-the-loop simulation experiments are undertaken to verify the feasibility and effectiveness of the proposed nonlinear PID controller with additional FFC for 3-DOF flight simulator.

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

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

Development of a Low-cost Hardware-in-the-loop Simulation System as a Test Bench for Anti-lock Braking System

Nowadays validation of anti-lock braking systems（ABS） relies mainly on a large amount of road tests.An alternative means with higher efficiency is employing the hardware-in-the-loop simulation（HILS） system to substitute part of road tests for designing,testing,and tuning electronic control units（ECUs） of ABS.Most HILS systems for ABS use expensive digital signal processor hardware and special purpose software,and some fail-safe functions with regard to wheel speeds cannot be evaluated since artificial wheel speed signals are usually provided.In this paper,a low-cost ABS HILS test bench is developed and used for validating the anti-lock braking performance and tuning control parameters of ABS controllers.Another important merit of the proposed test bench is that it can comprehensively evaluate the fail-safe functions with regard to wheel speed signals since real tone rings and sensors are integrated in the bench.A 5-DOF vehicle model with consideration of longitudinal load transfer is used to calculate tire forces,wheel speeds and vehicle speed.Each of the four real-time wheel speed signal generators consists of a servo motor plus a ring gear,which has sufficient dynamic response ability to emulate the rapid changes of the wheel speeds under strict braking conditions of very slippery roads.The simulation of braking tests under different road adhesion coefficients using the HILS test bench is run,and results show that it can evaluate the anti-lock braking performance of ABS and partly the fail-safe functions.This HILS system can also be used in such applications as durability test,benchmarking and comparison between different ECUs.The test bench developed not only has a relatively low cost,but also can be used to validate the wheel speed-related ECU design and all its fail-safe functions,and a rapid testing and proving platform with a high efficiency for research and development of the automotive ABS is therefore provided.

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

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

Hardware-in-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.

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.

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.

Marine Current Turbine Simulator Development Based on Hardware in the Loop Simulation Concept

This paper is a contribution to the development of real time simulators for energy conversion research with respects to the ＂hardware in the loop simulation＂ concept. The focus is on the study of marine current kinetics energy conversion from into electrical energy using a marine current turbine simulator, developed in three stages. In the first stage the marine current turbine is emulated with the help of an induction drive who reproduces at its shaft the characteristics of a real turbine. It is connected with a load break used to force the emulator to respect on its shaft the characteristics of the real turbine. In the second stage, the induction drive is connected on the shaft with a doubly feed induction generator, for the study of energy conversion. The emulator respects the working regime, developed in the previous step, of a real turbine due to the control of the drive. In the third stage the induction machine emulating the turbine is interconnected with the generator and the load break. This assembly is used for the dynamic study of the marine current turbine. The break is used to create extra loads on the shaft and a variable inertial moment.

Hardware-in-loop simulation on hydrostatic thrust bearing worktable pose

A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated by electro hydraulic servo valve-control variable pump according to the surface roughness, load, cutting force, and thermal effects of worktable. The mathematical models of the controllable chamber flow, servo variable mechanism and controller were built. The pose control model was established, which contained the kinematics positive and negative solution and control strategy of feedforward and hydraulic cylinder position feedback. Hardware-in-loop simulation experiment was carried out on the electro hydraulic servo test bench by means of the non-linear relation of film thickness and hydraulic cylinder displacement. Hardware-in-loop simulation experiment results show that the controllable bearings exhibit high oilfilm rigidity, the rising time is 0.24 s and the maximum overshoot is 2.23%, and can be applied in high precision heavy machine tool.

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

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

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.

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.

Development and Verification of the Equilibrium Strategy for Batteries in Electric Vehicles

The inconsistency of the cells in a battery pack can affect its lifespan,safety and reliability in the electric vehicles. The balanced system is an effective technique to reduce its inconsistency and improve the operating performance. A hybrid equilibrium strategy based on decision combing battery state-of-charge（ SOC） and voltage has been proposed. The battery SOC is estimated through an improved least squares method. An equalization hardware in loop（ HIL） platform has been constructed. Based on this HIL platform,equilibrium strategy has been verified under the constant-current-constant-voltage（ CCCV） and dynamicstresstest（ DST） conditions. Experimental results indicate that the proposed hybrid equalization strategy can achieve good balance effect and avoid the overcharge and over-discharge of the battery pack at the same time.

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.

基于Windows/RTX的实时仿测软件设计

针对传统测试软件实时性有限、传统仿真接口软件通用性程度低的问题,为满足半实物仿真软件需兼顾单元测试和控制系统仿真验证的需求,设计了基于Windows/RTX的实时仿测软件。仿测软件采用模块化的设计原则,开发了GUI层人机交互界面和RTX层实时运行程序。为保证实时性,采用无锁循环缓冲区+双线程技术,解决了RTX环境下仿真步长为1 ms时串口数据收发的超时问题;提出一种超时检测算法监测仿真节点的实时状态。借助cJSON优化了测试用例配置文件,用户可以更灵活地编辑测试用例,利用RTW自动代码生成将弹体模型编译集成到RTX仿测软件工程。实验结果表明:该仿测软件有效兼顾了单测与仿真,提高了仿测软件的通用性和二次开发效率,降低了开发难度。

Arduino与Matlab相融合的自控实验平台

为帮助学生构建分析实际控制系统的方法,开发基于Arduino与Matlab相融合的自动控制实验平台。以温度控制系统为例,建立温度控制系统的数学模型;搭建基于Arduino平台数据采集、Matlab软件数据分析仿真和Python求解器参数优化的系统模型辨识平台。设计了内模PID控制算法,利用Matlab软件对辨识的模型进行仿真测试,同时对温度控制系统进行测试;实现Arduino平台代码的自动生成、自动下载运行以及硬件在环调试等功能。实验结果表明:系统模型辨识较为准确,所提控制策略效果较好;系统模型搭建、算法设计、仿真分析和系统测试全流程的体验,有助于学生提升分析控制系统的能力。

硬件可实现的GNSS/INS矢量深组合跟踪环路(英文)

GNSS矢量跟踪环路(VTL)跟踪灵敏度和定位精度优于标量跟踪环路(STL),但实现复杂度高,三个主要难点是:多通道联合跟踪要求各通道同时获取观测量并在同一时刻更新环路参数;高频率计算卫星位置加重处理器运算负担;无法跟踪载波相位导致无法解调导航电文。以上三个难点阻碍VTL在硬件平台上实现,因此商业接收机通常使用容易硬件实现的STL,但性能次优。为了在嵌入式硬件平台上实现VTL,引入三种方法:异步观测量线性插值、卫星位置计算算法优化、特殊的导航电文解调方法,之后通过仿真验证优化算法的功能及性能。使用航迹发生器生成飞机协调转弯航迹,再使用GNSS卫星信号模拟器产生中频采样信号,基于Matlab平台处理数据并进行了对比分析。仿真结果表明该VTL计算卫星位置效率提升55倍,成功解调导航电文,VTL位置精度优于3 m,速度精度优于0.3 m/s,基于该VTL的矢量深组合(VDI)算法位置精度优于2 m,速度精度优于0.1 m/s。

快速原型中Simulink模型的代码自动生成

快速原型仿真是实时仿真的一种,它处于产品研发的算法设计阶段与具体实现阶段之间,是产品研制过程中的一个重要环节。本文介绍了在快速原型系统中如何利用Matlab/Simulink的代码生成功能将Simulink模型转换成目标语言模型的方法;既避免了Simulink模型在Matlab/Simulink环境下仿真速度低下的问题,又能大大降低用目标语言编程建模的工作强度。实际应用表明,通过使用Simulink模型的C代码自动生成,可以方便快捷地将Simulink模型应用于半实物仿真系统,缩短研制周期,并提高仿真系统的灵活性和可靠性。

基于Simulink和RTX的导弹半实物仿真技术研究

针对导弹半实物仿真中的快速模型构建与实时仿真问题,给出了综合运用Simulink和RTX的解决方法。利用Simulink图形化建模环境构建导弹模型并进行数学仿真验证,通过Coder工具生成模型的C/C++代码,嵌入RTX环境下的RTSS实时进程,进行半实物仿真。应用结果表明,该方法可以实现导弹模型的快速开发和实时运行,满足半实物仿真实时性需求;同时还实现了数学仿真和半实物仿真的无缝对接,通过数学仿真预测半实物仿真试验结果,可以进一步优化试验方案,提高仿真试验效率。