Real-time controller hardware-in-the-loop co-simulation testbed for cooperative control strategy for cyber-physical power system

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.

A test sequence generation method of zone controller based on timed automata

In order to solve the problem of artificial generation and low efficiency of test sequences for zone controller (ZC), a model-based automatic generation method of test sequence is proposed. Firstly, the timed automata model is established based on function analysis of the zone controller, and the correctness of the model is verified by UPPAAL. Then by parsing the timed automata model files, state information and transition conditions can be extracted to generate test case sets. Finally, according to the serialization conditions of test cases, the test cases are serialized into test sequences by using the improved depth first search algorithm. A case, the ZC controls the train running within its jurisdiction, shows that the method is correct and can effectively improve the efficiency of test sequence generation.

Research on safety control technology of high-speed railway combined test based on threatening event analysis

Purpose–Safety management is a key point and poses a challenge in joint testing.To detect and address potential accidents’hidden dangers early,this paper conducts research on the safety control technology for high-speed railway joint tests by incorporating the concept of hazardous events.Design/methodology/approach–Aiming at ensuring the safety of high-speed railway combined inspections and trials,this paper starts from the dual prevention mechanism.It introduces the concept of threatening events,defines them and analyzes the differences between threatening events and railway accidents.The paper also proposes a cause model for threatening events in high-speed railway combined inspections and trials,based on three types of hazard sources.Furthermore,it conducts research on the control strategies for these threatening events.Findings–The research on safety control technology for high-speed railway combined operation and testing,based on the analysis of threatened events,offers a new perspective for safety management in these operations.It also provides theoretical and practical support for the transition from passive prevention to active risk pre-control,which holds significant theoretical and practical value.Originality/value–The innovation mainly includes the following three aspects:(1)Building on the traditional dual prevention mechanism,which includes risk hierarchical management and control as well as hidden danger investigation and management,a triple prevention mechanism is proposed.This new mechanism adds the management of threatening events as the third line of defense.The aim is to more comprehensively identify and address potential security risks,thereby enhancing the efficiency and effectiveness of security management.(2)In this paper,the definition of a railway threatening event is clarified,and the causative model of a high-speed railway threatening event based on three kinds of danger sources is proposed.(3)This paper puts forward the control strategy of the high-speed railway combined operation and trial,which includes five key links:identification,reporting,analysis,rectification and feedback,which provides a new perspective for the safety management of the high-speed railway combined operation and trial and has important theoretical and application value.

NUMERICAL MODELING OF MULTI-CYLINDER ELECTRO-HYDRAULIC SYSTEM AND CONTROLLER DESIGN FOR SHOCK TEST MACHINE

A high fidelity dynamic model of a high-energy hydraulically-actuated shock test machine for heavy weight devices is presented to satisfy the newly-built shock resistance standard and simulate the actual underwater explosion environments in laboratory as well as increase the testing capability of shock test machine. In order to produce the required negative shock pulse in the given time duration, four hydraulic actuators are utilized. The model is then used to formulate an advanced feedforward controller for the system to produce the required negative waveform and to address the motion synchronization of the four cylinders. The model provides a safe and easily controllable way to perform a ＂virtual testing＂ before starting potentially destructive tests on specimen and to predict performance of the system. Simulation results have demonstrated the effectiveness of the controller.

TEST AND CONTROL SYSTEM DEVELOPMENT AND APPLICATION OF LANDING GEAR DROP TEST RIG

A control and test system of a landing gear drop test rig is developed considering the drop test specifica- tions for the ＂Seagull 300＂ multi-functional amphibious airplane. In order to realize the automation of drop test process, a servo system is proposed and programmable logic controller（PLC） technology is used. Several key technologies for measuring the horizontal load, the vertical load and the transient rotational speed are studied. According to the requirements of CCAR-23-R3, the drop test of landing gears of the ＂Seagull 300＂ airplane is accomplished. Test results show that the system has a high accuracy of data collection. The system is stable and reliable. The drop test satisfies the requirements of the drop test specifications and the results can be used as the certification of airworthiness for this kind of airplane.

Automatic Control of Automobile Transmission Performance Test Stand

To realize automatic control of automobile transmission performance test stand Methods The automatic control technique of the lubricant temperature,the program- controll- edautomaticshifting of the transmission,the continuous adjusting of revolution speed and load, data-acquisition and data real-time processing were adopted.Results The lubricant temperature was controlled at the set temperature ±2℃.The automatic shifting of the trans- mission is simple,reliable and accurate.The automatic adjusting of load and rotation speed is rapidandaccurate,the torque divergence is ±1N·m,the rotation speed divergence is ±5r/min Conclusion The four kinds of techniques are applied into the automobile transmission perfor- mance test stand successfully. mancetest stand successfully.

Total Amount Control Test of Nitrogen Fertilizer and Phosphate Fertilizer on Winter Wheat

[Objective] This study was conducted to optimize the suitable application amounts of nitrogen fertilizer and phosphate fertilizer for winter wheat.[Method] A field experiment was carried out to investigate the effects of the application amounts of nitrogen fertilizer and phosphate fertilizer on the yield of winter wheat.[Result]The quadratic simulation function between the application of nitrogen fertilizer and wheat yield was y =-0.6611x^2＋20.091 x ＋234.85,with a correlation coefficient of0.970 8,and the yield of winter wheat was the highest at the application amount of nitrogen fertilizer of 228.0 kg/hm^2.The quadratic simulation function between the application of phosphate fertilizer and wheat yield was y =-0.572 6x^2＋13.168 x ＋340.4,with a correlation coefficient of 0.921 95,and the yield of winter wheat was the highest at the application amount of phosphate fertilizer of 172.5 kg/hm^2.[Conclusion] This study provides a scientific basis for the rational application of nitrogen fertilizer and phosphate fertilizer on winter wheat.

Shaking table test and numerical analysis of offshore wind turbine tower systems controlled by TLCD

A wind turbine system equipped with a tuned liquid column damper （TLCD） is comprehensively studied via shaking table tests using a 1/13-scaled model. The effects of wind and wave actions are considered by inputting response- equivalent accelerations on the shaking table. The test results show that the control effect of the TLCD system is significant in reducing the responses under both wind-wave equivalent loads and ground motions, but obviously varies for different inputs, Further, a blade-hub-tower integrated numerical model for the wind turbine system is established. The model is capable of considering the rotational effect of blades by combining Kane＇s equation with the finite element method. The responses of the wind tower equipped with TLCD devices are numerically obtained and compared to the test results, showing that under both controlled and uncontrolled conditions with and without blades＇ rotation, the corresponding responses exhibit good agreement. This demonstrates that the proposed numerical model performs well in capturing the wind-wave coupled response of the offshore wind turbine systems under control. Both numerical and experimental results show that the TLCD system can significantly reduce the structural response and thus improve the safety and serviceability of the offshore wind turbine tower systems. Additional issues that require further study are discussed.

Design and Experimental Investigation for Subsea Control Module Test System

As a core part of subsea production systems,subsea control modules(SCMs)are costly,difficult,and expensive to install and inconvenient to use in underwater maintenance.Therefore,performance and function tests must be carried out before launching SCMs.This study developed a testing device and an SCM test by investigating SCMs and their underwater.The testing device includes four parts:a hydraulic station,an SCM test stand,a signal generating device,and an electronic test unit.First,the basic indices of the testing device were determined from the performance and working parameters of the SCM.Second,the design scheme of the testing device for the SCM was tentatively proposed,and each testing device was designed.Finally,a practical measurement of the SCM,in combination with the hydraulic station,SCM test stand,signal generator,electronic unit,and highpressure water tank,was carried out according to the test requirements.The measurement mainly involved equipment inspection before testing and an experimental test for the SCM.The validity and feasibility of the testing device and method were simultaneously verified through an association test.

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.

IMC based robust PID controller tuning for disturbance rejection

It is well-known that the IMC-PID controller tuning gives fast and improved set point response but slow disturbance rejection. A modification has been proposed in IMC-PID tuning rule for the improved disturbance rejection. For the modified IMC-PID tuning rule, a method has been developed to obtain the IMC-PID setting in closed-loop mode without acquiring detailed information of the process. The proposed method is based on the closed-loop step set point experiment using a proportional only controller with gain K_(c0). It is the direct approach to find the PID controller setting similar to classical Ziegler-Nichols closed-loop method. Based on simulations of a wide range of first-order with delay processes, a simple correlation has been derived to obtain the modified IMC-PID controller settings from closed-loop experiment. In this method, controller gain is a function of the overshoot obtained in the closed loop set point experiment. The integral and derivative time is mainly a function of the time to reach the first peak(overshoot). Simulation has been conducted for the broad class of processes and the controllers were tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison. The PID controller settings obtained in the proposed tuning method show better performance and robustness with other two-step tuning methods for the broad class of processes. It has also been applied to temperature control loop in distillation column model. The result has been compared to the open loop tuning method where it gives robust and fast response.

Temperature-controlled triaxial compression/creep test device for thermodynamic properties of soft sedimentary rock and corresponding theoretical prediction

In deep geological disposal of high-level nuclear waste,one of the most important subjects is to estimate long-term stability and strength of host rock under high temperature conditions caused by radioactive decay of the waste.In this paper,some experimental researches on the thermo-mechanical characteristics of soft sedimentary rock have been presented.For this reason,a new temperature-controlled triaxial compression and creep test device,operated automatically by a computer-controlled system,whose control software has been developed by the authors,was developed to conduct the thermo-mechanical tests in different thermal loading paths,including an isothermal path.The new device is proved to be able to conduct typical thermo-mechanical element tests for soft rock.The test device and the related testing method were introduced in detail.Finally,some test results have been simulated with a thermo-elasto-viscoplastic model that was also developed by the authors.

Nonlinear Modeling and Identification of Structural Joint by Response Control Vibration Test

Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled precisely.To meet serious quality requirements,it is necessary to detect and identify nonlinearity of mechanical products for structural optimization.Modal test to acquire a dynamic response has been applied for decades,which provides reliable results for finite element(FE)model updating.Here response control vibration test for identification of nonlinearity is presented.A nonlinear system can be regarded as linearity for particular steady state response,and classical linear analysis tool is applicable to extract modal data for particular response.First,its applicability is illustrated by some numerical simulations.Subsequently,it is implemented on experimental setup with structural joints by shaking table.The stiffness and damping function dependent of relative displacement are fitted to describe its inherent nonlinearity.The spring and damping forces are identified by harmonic balance method(HBM)to predict output response.Based on the identified results,the procedure is recommended that it allows a reliable measurement of nonlinearity with a certain accuracy.

Remote Control and Telemetry System for Large-scale Model Test at Sea

Physical testing of large-scale ship models at sea is a new experimental method.It is a cheap and reliable way to research the environment adaptability of a ship in complex and extreme wave conditions.It is necessary to have a stable experimental system for the test.Since the experimental area is large, a remote control system and a telemetry system are essential, and were designed by the authors.An experiment was conducted on the Songhuajiang River to test the systems.The relationship between the model's speed and its electromotor's revolutions was also measured during the model test.The results showed that the two systems make it possible to carry out large-scale model tests at sea.

Development of a Remotely Controlled Testing Platform with Low-drag Air-ventilated Hull

This paper addresses the development and testing of a remotely controlled boat platform with an innovative air-ventilated hull. The application of air cavities on the underside of ship hulls is a promising means for reducing hydrodynamic drag and pollutant emissions and increasing marine transportation efficiency. Despite this concept＇s potential, design optimization and high-performance operation of novel air-cavity ships remain a challenging problem. Hull construction and sensor instrumentation of the model-scale air-cavity boat is described in the paper. The modular structure of the hull allows for easy modifications, and an electric propulsion unit enables self-propelled operation. The boat is controlled remotely via a radio transmission system. Results of initial tests are reported, including thrust, speed, and airflow rate in several loading conditions. The constructed platform can be used for optimizing air-cavity systems and testing other innovative hull designs. This system can be also developed into a high-performance unmanned boat.

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.

Design of a Control Device for Synthetic Making Test Based on Pre-Arcing Current Detection and Phase Control

The synthetic making test has been widely used in evaluating the break ability of high-voltage circuit breaker. However, the test research and application are still inadequate, especially in the condition of rated voltage. According to the realistic conditions of test stations in China, a control device based on pre-arcing current detection and phase control is proposed in this paper. A sample of the control device made up of DSP TMS320LF2407A is fabricated, in which the CPLD MAX7064 is used to transmit signals for EMC design. It can be applied in full voltage synthetic making test at a level of 126kV/63kA. The test results show that, it is accurate to control the making phase of the applied voltage, whether the closing is demanded at voltage peak or zero.

Research of the Control Domain of Edges in Regression Testing

Regression testing is the process of validating modified software to provide confidence that the changed parts of the software behave as intended and that the unchanged parts have not been adversely affected by the modifications. The goal of regression testing is to reduce the test suit by testing the new characters and the modified parts of a program with the original test suit. Regression testing is a high cost testing method. This paper presents a regression testing selection technique that can reduce the test suit on the basis of Control Flow Graph (CFG). It import the inherit strategy of object-oriented language to ensure an edge’s control domain to reduce the test suit size effectively. We implement the idea by coding the edge. An algorithm is also presented at last.

Safety Control Technology of Deepwater Perforated Gas Well Testing

Due to the high difficulties, high investment, and high risks in deepwater oil and gas well testing, major safety problems can occur easily. A key to prevent accidents is to conduct safety assessment and control on deepwater testing and to improve the testing technology. The deepwater of the South China Sea has some special environmental features: long distance from offshore, frequent typhoons in summer and constant monsoons in winter, and the presence of sandy slopes, sandy ridges and internal waves, coupled with the complex properties of oil and gas reserves which bring more challenges to deepwater well testing. In combination with deepwater well testing practice in the South China Sea, this paper analyzes the main potential risks in deepwater well testing and concludes that there are risks of failures of testing string, tools, and ground processes. Other risks are gas hydrate blockage, reservoir stratum sanding, and typhoon impacts. Specific precautions are also proposed in response to these risks in the paper.

A Design of a PID Self-Tuning Controller Using LabVIEW

In this paper a trial has been made to design a simple self-tuning LabVIEW-based PID controller. The controller uses an open-loop relay test, calculates the tuned parameters in an open loop mode of operation before it updates controller parameters and runs the process as a closed-loop system. The controller reacts on a persistent offset error value as a result of load disturbance or a set point change. Practical results show that such a controller may be recommended to control a variety of industrial processes. A GUI was developed to facilitate control-mode selection, the setting of controller parameters, and the display of control system variables. GUI makes it possible to put the controller in manual or self-tuning mode.