Abstract: This paper deals with the current state-of-the-art in interfacing issues related to real-time digital simulators employed in the simulation of power systems and power-electronic systems. This paper provides an overview of technical challenges encountered and their solutions as the real-time digital simulators evolved. Hardware-in-the-loop interfacing for controller hardware and power apparatus hardware are also presented.

Abstract: This paper introduces a unified approach to the validation of power-electronics (PE) control hardware, firmware, and software designs. It is based on a scalable application-specific ultralow-latency (ULL) digital processor core. The proposed ULL processor core simulates PE converters and systems comprising multiple power converters with a fixed 1-μs simulation time step and latency, regardless of the size of the system. Owing to its ULL, the proposed platform enables the fully automatic testing and validation of the complete PE design comprising component safe-operating-area validation, system protection, firmware, and software implementation as well as overall system performance optimization.

Abstract: This paper presents a hardware-in-the-loop (HIL) simulation technique applied to a series-resonant multiple-output inverter for new multi-inductor domestic induction heating platforms. The control of the topology is based on a system-on-programmable chip (SoPC) solution, which combines the MicroBlaze embedded soft-core processor and a customized peripheral that generates the power converter control signals. The firmware is written in C, and the customized peripheral is described using a hardware description language. Simulating the whole system using digital or mixed-signal simulation tools is a very time-consuming task due to the embedded processor model complexity, and additionally, it does not support tracing C instructions. To overcome these limitations, this paper proposes a real-time simulation test bench. The embedded processor core, peripherals, and the power converter model are all implemented into the same field-programmable gate array (FPGA). Using the hardware and software debugging tools supplied by the FPGA vendor, currents and voltages of the power converter model are monitored, and firmware C instructions are traced while running on the embedded processor core. Then, it is presented a design flow that is proven to be an effective and low-cost solution to verify the functionality of the customized peripheral and to implement a platform to perform firmware verification.

Abstract: In this paper, a switched control strategy for an antilock braking system (ABS), which has conventional hydraulic actuators equipped with on/off valves, is presented. The investigated system contains the continuous dynamics of the vehicle and the inherent discontinuous characteristics of the on/off valves. Accordingly, a novel approach based on nonlinear state feedback and a switching strategy renders a controller that assures that the wheel slip converges into the target equilibrium set. Then, the convergence condition of the closed-loop system is analyzed using Lyapunov theory in the Filippov framework, and the influence of controller parameters on the system is also discussed. It is shown that the proposed controller has few tuning parameters, and each parameter has an explicit physical meaning. Both the illustrative hardware-in-the-loop simulation and experimental results show that the switched control approach is robust enough to guarantee a good performance, even if the uncertainties of the actuator characteristics, road-adhesion coefficient, and vehicle speed are considered.

Abstract: A model reference dynamic inversion control law has been developed to provide a baseline control law for research into adaptive elements and other advanced flight control law components. This controller has been implemented and tested in a hardware-in-the-loop simulation; the simulation results show excellent handling qualities throughout the limited flight envelope. A simple angular momentum formulation was chosen because it can be included in the stability proofs for many basic adaptive theories, such as model reference adaptive control. Many design choices and implementation details reflect the requirements placed on the system by the nonlinear flight environment and the desire to keep the system as basic as possible to simplify the addition of the adaptive elements. Those design choices are explained, along with their predicted impact on the handling qualities.

Abstract: The simulation modeling and the control of real plant are two-very often separated-fields of mechatronic practice, research and education. The deep gap between simulation world of controlled system and practical implementation in e.g. embedded hardware can be bridged through the use of special hardware and software directly in MATLAB/Simulink environment. This paper presents the review of available tools with respect to their usability, sampling rate capability, the necessary software needs and also the financial requirements. Most of approaches require the C code generation using Real-Time Workshop. However e.g. the Real-Time Toolbox works directly with normal mode of Simulink which can be especially recommended for the educational applications. The paper briefly describes several case studies where undergraduate students can deal with real educational models without previous knowledge of the real-time systems. The list of available hardware and software tools is not complete but includes all important approaches: low cost general purpose I/O card with/without C code generation, high-performance hardware for comfort rapid prototyping or hardware-in-the-loop simulation and code generation for embedded targets (16 or 32bit microcontrollers or DSP).

Abstract: Ground transportation industry has accepted the reality that fast, efficient, and cost effective engine and vehicle development necessitates the use of numerical simulation at every stage of the design process. Within the vehicle powertrain design and development process, three different levels of modelling can generally be found: 1. Detailed modelling: it is performed during the research and early development stages. It is mainly focused on single powertrain components, such as for instance the internal combustion engine or the electric motor of a Hybrid Electric Vehicle (HEV), providing detailed information about their behaviour, while it cannot study the whole system. 2. Software in the Loop (SiL) modelling: it is carried out later in the development cycle but often before production hardware is available. It has a global perspective and it can be used to evaluate vehicle performance. Moreover today SiL becomes popular in control system development, such as for instance in the development of HEVs energy management systems. 3. Hardware in the Loop (HiL) modelling, which is conducted once production controllers are available. Therefore, this chapter will provide a description of different methodologies which can support engineers in each phase of the vehicle powertrain design process. Starting from the description of different modelling approaches, the chapter will then go deeper into the analysis of numerical models for the main powertrain subsystems (such as for instance the internal combustion engine, the electric motors for HEVs, etc.). Finally, two case studies of numerical simulation applied to powertrain development will be presented; the first focused on the evaluation of vehicle performance, paying particular attention to the engine behaviour under transient conditions, the second aiming instead to the assessment of the fuel economy potential of different Hybrid Electric Vehicle architectures

Abstract: A robotic hardware-in-the-loop simulation platform was designed to aid in the synthesis and analysis of robot manipulators and their controllers. The platform uses a load emulation mechanism to apply nonlinear and coupled dynamic loads to the joint hardware. Some experimental results from a 5-DOF industrial manipulator are provided, demonstrating how the platform can simulate the performance of a manipulator under normal and aggressive operating conditions.

Abstract: This paper presents the design of μ-synthesis control for four-wheel steering (4WS) vehicle and an experimental study using a hardware-in-the-loop (Hil) setup. First, the robust controller is designed and the selection of weighting functions is discussed in the framework of μ-synthesis control scheme, considering the varying parameters induced by running vehicle condition. Second, in order to investigate the feasibility of the four-wheel steering control system, the 4WS vehicle control system is built using dSPACE DS1005 platform. The experimental tests are performed using the Hil setup which has been constructed using the devised rear steering actuating system. The dynamics performance is evaluated by experiment using the Hil setup under the condition of parameter variations. Finally, experimental results show that the μ-synthesis controller can enhance good vehicle lateral maneuverability.

Abstract: In this paper, a hardware-in-the-loop simulation (HILS) system was developed before the development of an electric power steering (EPS) system in a vehicle. This study was focused on the establishment of the HILS system. Driving conditions are simulated with the HILS system. The actual steering input parameters are confirmed on the monitor while driving the HILS system. The steering forces observed in the simulation with the developed HILS system are similar to those in real vehicle tests. The developed HILS system can be applied in the development of various types of EPS systems.

Abstract: This paper reports the results of experimental verification of flight controllers for the multipurpose-aviation-laboratory-α (MuPAL-α) in-flight simulator. The flight controller design requirements are twofold: to suppress the effects of gusts on MuPAL-α motions and to realize a wide range of maneuverability, i.e., handling characteristics, without controller redesign. Using a previously proposed two-step design method for two-degrees-of-freedom model-matching controllers, flight controllers were designed for the linearized longitudinal and lateral-directional motions of MuPAL-α, and their performance was examined by hardware-in-the-loop simulations and flight tests with several maneuverability models. These experiments confirmed that MuPAL-α with our controllers achieves gust suppression and is capable of simulating various types of handling characteristics simply by replacing the model that defines the characteristics to be examined.

Abstract: The paper presents new results on the verification and in-flight validation of an L1 adaptive flight control system, and proposes a general methodology for verification and validation of adaptive flight control algorithms. The proposed framework is based on Rohrs counterexample, a benchmark problem presented in the early 80s to show the limitations of adaptive controllers developed at that time. In this paper, the framework is used to evaluate the performance and robustness characteristics of an L1 adaptive control augmentation loop implemented onboard a small unmanned aerial vehicle. Hardware-in-the-loop simulations and flight test results confirm the ability of the L1 adaptive controller to maintain stability and predictable performance of the closed loop adaptive system in the presence of general (artificially injected) unmodeled dynamics. The results demonstrate the advantages of L1 adaptive control as a verifiable robust adaptive control architecture with the potential of reducing flight control design costs and facilitating the transition of adaptive control into advanced flight control systems.

Abstract: In this research paper we investigate the applicability of real-time generated computer graphics for mono camera lane and vehicle detection algorithms. First we introduce a developed hardware-in-the-loop simulator and describe two solutions for the input of the synthetic images. Then the creation of the camera and environment model used for the tests is focused. Therefore first requirements hold by the lane and vehicle detection algorithms are mentioned and different fields of application are described. Finally we demonstrate the applicability on three scenarios derived from real test drives and compare the results to reality.

Abstract: The invention relates to an aircraft hardware-in-the-loop simulation device, belonging to the technical field of simulation. The aircraft hardware-in-the-loop simulation device comprises a flight training device, a control surface control mechanism, a flight scene system, an atmospheric data testing device, a three-degree-of-freedom electric turntable and an inertial navigation system, which are all integrated as a whole through network; the flight training device is provided with a server, a central console, a sidebar and a display mechanism; the control surface control mechanism is providedwith an aircraft physical mode, an aileron, a rudder, an elevating rudder and a rudder loop control system; the flight scene system displays flight attitude, data or trajectory; the atmospheric data testing device comprises a computer, a direct current power supply module, a power supply control module, an adaptor module and a signal conditioning box module; the three-degree-of-freedom electric turntable comprises an inner frame, a middle frame, an outer frame as well as a turntable pedestal and a control system thereof; and the inertial navigation system is provided with a sensor assembly mounted on the three-degree-of-freedom electric turntable and a computer. The aircraft hardware-in-the-loop simulation device has the advantages of novel structure, compact assembly, good dynamic performance, high simulation degree and being visual and convenient, etc.

Abstract: The effective integration of distributed energy resources in distribution networks demands powerful simulation and test methods in order to determine both system and component behaviour, and understand their interaction. Unexpected disconnection of a significant volume of distributed generation (DG) could have potentially serious consequences for the wider power system, and this means DG sources can no longer be treated as purely negative load. This paper proposes a method of testing loss-of-mains (LOM) detection and protection schemes for distributed energy resources (DER) using realtime power hardware-in-the-loop (RT PHIL). The approach involves connecting the generator and interface under test (e.g. motor-generator set or inverter, controlled by an RTS — Real Time Station) to a real-time simulator (in this case an RTDS — Real Time Digital Simulator) which simulates the local loads and upstream power system. This arrangement allows observation of the interaction with other controls in the network beyond the local microgrid area. These LOM detection schemes are of increasing importance because with growing penetration levels of distributed generation the network operator has less visibility and control of the connected generation. Furthermore when the generation and load in a particular network area are closely matched (e.g. a grid-connected microgrid), it becomes increasingly difficult to detect a loss of grid supply at the generator. This work builds upon the existing LOM testing methodology developed previously for the Energy Networks Association in the United Kingdom. By utilising RT PHIL and a laboratory microgrid, the testing environment has been brought to a new level of functionality where system integrity can be more rigorously and realistically evaluated.

Abstract: Constantly growing competitive pressure forces machine and plant manufacturers to find new innovative ways to reduce the development costs as well as to increase the quality. In order to achieve these goals, simulation tools are used in many phases of the development process. An integrated simulation of the system “production plant” requires not only the dynamic behavior of the production system but also the consideration of the applied control technology. For this purpose, especially the coupled simulation between real control system and virtual machine became widely accepted in recent years. This paper will give an overview of the current state of the art of hardware-in-the-loop simulation of production systems dynamics at the ISW.

Abstract: Purpose – The purpose of this paper is to present the development of hardware‐in‐the‐loop simulation (HILS) for visual target tracking of an octorotor unmanned aerial vehicle (UAV) with onboard computer vision.Design/methodology/approach – HILS for visual target tracking of an octorotor UAV is developed by integrating real embedded computer vision hardware and camera to software simulation of the UAV dynamics, flight control and navigation systems run on Simulink. Visualization of the visual target tracking is developed using FlightGear. The computer vision system is used to recognize and track a moving target using feature correlation between captured scene images and object images stored in the database. Features of the captured images are extracted using speed‐up robust feature (SURF) algorithm, and subsequently matched with features extracted from object image using fast library for approximate nearest neighbor (FLANN) algorithm. Kalman filter is applied to predict the position of the moving target on...

Abstract: Generally, the generation of a simulation model is both a time-and cost-consuming task within processes for performing simulation. Therefore, reuse of the simulation model that is once generated based on a huge amount of information/data is an essential and important issue for simulation engineers. It is more difficult to exchange a reusable simulation model across heterogeneous simulation systems because these systems have different structures and modes of expressing information even if the contents are the same. A neutral file format has been proposed as a methodology to solve this kind of problem in the exchange of simulation models between simulation and other manufacturing applications. Towards this end, in this article, NEutral SImulation Schema (NESIS) is defined based on several neutral file formats such as NIST SDM, SDX and PLM Services; then, a system architecture is designed and implemented based on the proposed neutral simulation model for an interoperable environment. The target commercial simulation applications in this article are QUEST and Plant Simulation. Therefore, interfaces for each of these commercial systems are developed. As a case study, NESIS and the developed simulation model exchange system are practically applied to a Korean automotive parts assembly line. So the result of application shows that it is possible to effectively work collaboratively in a distributed environment. To elaborate, if simulation modelling is once completed in a commercial simulation application, there is no more need to model for different kinds of applications. Therefore, the time and effort for modelling the same target is greatly reduced for different kinds of simulation applications. The reduction in the time and effort for simulation will ensure effective concurrent engineering.

Abstract: This paper presents a hardware-in-the-loop battery simulation platform capable of emulating individual cells of a series connected string. The platform enables an efficient and reproducible way to benchmark battery management systems. The focus is put on battery modeling, embedded system architecture and software development. A practical implementation of a lithium-ion cell emulator based on a linear amplifier is described.

Abstract: This paper proposes a validation methodology for implementing solutions to challenges involved with power electronic converter design. Typically, the design process consists of first simulating the converter and then implementing it on hardware. Here, an intermediate step is added where the controller is connected to a real-time simulator before being connected to real hardware. This allows for virtual testing of scenarios that cannot be conducted with physical hardware without risking damage to the hardware. This technique will be demonstrated by implementing a new method of control, the drifting PWM, for a multilevel packed U-cell (PUC) converter. The drifting PWM allows for a slight variation in the switching state so that regulation of the auxiliary capacitor can be achieved. This method will be simulated offline and in real-time to demonstrate its long term reliability. Once fully functional, the controller is implemented on an FPGA board, from which it will control the real converter. Simulation results, as well as experimental results, are presented and compared. It is demonstrated that the HIL technique is a very effective tool for designing multilevel converter controllers.

Abstract: An instantaneous optimization based power management strategy for output-coupled power-split based hydraulic hybrids has been described in this work. Design considerations for a hydraulic accumulator based regenerative system for hybrids have been outlined. Optimal operation of the non-hybrid version of the power-split transmission provides useful insight into the system optimization and its result has been utilized later. Instantaneous optimization based control combines the efficient system operation with the braking energy regeneration to achieve fuel savings with the hydraulic hybrids in this work. Fuel mileage for a hybrid passenger car has been simulated for standard drive cycles under the instantaneous optimization based control. An output-coupled power-split transmission prototype built on the Hardware-In-the-Loop (HIL) principle has been described briefly. Proposed instantaneous optimization based control has been implemented on the test-rig. The proposed management strategy is compared through measurements and simulations to validate its effectiveness in improving fuel economy.

Abstract: The invention discloses an integrated-navigation and control hardware-in-the-loop simulation test system of an underwater vehicle A simulation computer figures out the position, posture, speed and course information of the underwater vehicle, and an SINS (Ship's Inertial Navigation System) subsystem simulates the posture motion of the underwater vehicle A satellite navigation subsystem simulates the position and speed information of the underwater vehicle, and a depth simulation subsystem simulates the sailing depth information of the underwater vehicle A DVL (Digital Video Interactive) navigation subsystem simulates and computes the speed of the underwater vehicle, and a virtual line accelerometer simulates the specific force information of the underwater vehicle A navigation control computer collects the information to complete calculating of an inertial navigation and control system to drive a steering engine to move, the steering engine simulates action, and rudder angle information is fed back to the simulation computer by a rudder angle feedback potentiometer The system realizes debugging and testing of the integrated-navigation and control system of the underwater vehicle

Abstract: This paper describes the performance analysis of a multi-functional grid-connected photovoltaic (PV) system using power hardware-in-the-loop simulation (PHILS). An intelligent control scheme for the multi-functional grid-connected PV power generation system is proposed and verified though the power hardware-in-the-loop simulation computer simulation and the digital signal processor TMS320F2812 controller under various irradiation and load conditions. The proposed hardware and control algorithm can easily be applied to the power quality enhancement of distribution system and improves the utilization of PV system.

Abstract: This paper describes a novel method for Modeling and Simulation of the Renewable energy based Hybrid Power System (HPS) with improved simulation capabilities like Fidelity, Speed, and Real time control in Commercial Off The Shelf (COTS) hardware and software. Analysis of HPS dynamics is conventionally done by using Matlab/Simulink. Since the optimal utilization of primary energy sources will increase the level of supply reliability and economy, a real time EMU is needed. However, the conventional way of simulation limits us for real time control equipped with specific embedded hardware, which in turn limits in span of simulation and consume more time for simulation. Besides, various areas of control systems play vital role in the selection of simulator. Also, if the analyzed system is practically implemented, the results may vary, because, the conventional simulation library components are the approximated models for the real time scenarios. This triggers a new thought of bridging the gap between analysis and implementation by using common platforms. As a solution for all of these issues, and as per the contemporary technologies, the proposal is the method for modeling and simulation of HPS dynamics using PLCs, which supports effective control through a real time EMU, SCADA system, and other embedded hardware. The paper focuses on the combination of Photo Voltaic (PV) cell, Fuel cell (FC), and Wind Turbine (WT) systems, for power generation in the proposed HPS. The dynamics are compared with the conventional simulation.

Abstract: The demand for highly accurate attitude determination sensors has increased in the last few decades. One of the best and more accurate attitude determination sensors for spacecraft is the star tracker, which determines 3-axis attitude with an accuracy of a few arc-secs. In order to achieve this high accuracy, the star tracker hardware and software can be tested on-ground with an accurate optical simulator. This work presents an open-loop and closed-loop hardware test bench to demonstrate a star tracker’s functionality. The test bench consists of an optical star field simulator, a real-time simulation computer and the star tracker to be tested. A dSPACE real-time simulator is used to simulate vehicle attitude and the associated sky image is provided as input to the star tracker camera using the optical simulator. To close the simulation loop, the dSPACE simulator can respond to the star tracker measurements by changing the vehicle dynamics and thus the simulated star field image. The hardware-in-the-loop test bench was used to test the star tracker for the Hybrid Navigation Experiment for the SHEFEX-2 sounding rocket mission, which will be launched in late 2011. The test bench was first calibrated and aligned to remove errors in the simulation. End-to-end results using both the open- and the closed-loop test benches are then analyzed and discussed, which include measuring the total turn-around time and maximum vehicle rotation rate for the star tracker.

Abstract: The invention discloses a hardware-in-loop test bed of a hybrid car brake coordination control system, which comprises a driver operation test system (1), a hydraulic brake test system (48), a data processing module (46) a model simulation test system and a motor brake test system (19), wherein, a hydraulic control valve (58) in the hydraulic brake test system (48) is a test object and can be replaced by other hydraulic valves to be tested for testing hydraulic work characteristic. A permanent magnet synchronous motor (34) in the motor brake test system (19) is the test object and can be replaced by other motors to be tested for testing energy recycling characteristic. A brake operation mechanism in the driver operation test system (1) is the test object and can be replaced by other operation mechanisms to be tested for testing the relation of master cylinder pressure, footplate stroke and footplate force. The hardware-in-loop test bed of the hybrid car brake coordination control system can carry out the integral performance test of the hybrid car brake control system which comprises hardware and control strategy.