Aeropropulsion System Test Facility (ASTF) is required to accurately control the pressure and temperature of the airflow to test the performance of the aero-engine. However, the control accuracy of ASTF is significant...Aeropropulsion System Test Facility (ASTF) is required to accurately control the pressure and temperature of the airflow to test the performance of the aero-engine. However, the control accuracy of ASTF is significantly affected by the flow disturbance caused by aero-engine acceleration and deceleration. This would reduce the credibility of ASTF’s test results for the aero-engine. Therefore, first, this paper proposes a feedforward compensation-based L1 adaptive control method for ASTF to address this problem. The baseline controller is first designed based on ideal uncoupled closed-loop dynamics to achieve dynamic decoupling. Then, L1 adaptive control is adopted to deal with various uncertainties and ensure good control performance. To further enhance the anti-disturbance performance, a feedforward strategy based on disturbance prediction is designed in the L1 adaptive control framework to compensate for the unmatched flow disturbance, which cannot be measured directly. In addition, this strategy takes into account the effects of actuator dynamics. With this method, the feedforward term can be determined from the nominal model parameters despite uncertainties. Finally, to demonstrate the effectiveness of the proposed method, various comparative experiments are performed on a hardware-in-the-loop system of ASTF. The experimental results show that the proposed method possesses excellent tracking performance, anti-disturbance performance and robustness.展开更多
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 subs...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.展开更多
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,...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.展开更多
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 ...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.展开更多
The present paper deals with the development of a modular, flexible and structured block to block approach for the study of regulators by implementing the different blocks on a DSP （digital signal processor）. The pr...The present paper deals with the development of a modular, flexible and structured block to block approach for the study of regulators by implementing the different blocks on a DSP （digital signal processor）. The proposed low-cost approach has been applied and validated by the implementation of an industrial regulator in a real time hardware-in-the-loop simulation of a mixed islanded power network including precise models of the hydraulic system. The studied network is constituted of three different types of electrical power generation systems and a consumer.展开更多
AC-HVDC-AC energy conversion systems using MMC （modular multilevel converters） are becoming popular to integrate distributed energy systems to the main grid. Such multilevel converters pose a serious problems for H...AC-HVDC-AC energy conversion systems using MMC （modular multilevel converters） are becoming popular to integrate distributed energy systems to the main grid. Such multilevel converters pose a serious problems for HIL （hardware in the loop） simulators required for control, protection design and testing due to the large number of cells that must be simulated individually using very small time steps. This paper demonstrates the advantages of using a very small time step to simulate a MMC topology. The MMC is implemented on FPGA （fiel-programmable gate array） to simulate fast transient with a time step of 250 ns. The AC network and HVDC bus is simulated on the PC, with a slower time step of 10 μs to 20 μs. The simulator architecture and the components simulated on the FPGA and on the PC will be discussed, as well as the method allowing the interconnection of this slow and fast system.展开更多
Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to co...Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.展开更多
This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic ...This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.展开更多
基金supported by the“Shuimu Tsinghua Scholar”Project,China(No.2024SM223)the National Science and Technology Major Project,China(No.Y2022-V-0002-0028).
文摘Aeropropulsion System Test Facility (ASTF) is required to accurately control the pressure and temperature of the airflow to test the performance of the aero-engine. However, the control accuracy of ASTF is significantly affected by the flow disturbance caused by aero-engine acceleration and deceleration. This would reduce the credibility of ASTF’s test results for the aero-engine. Therefore, first, this paper proposes a feedforward compensation-based L1 adaptive control method for ASTF to address this problem. The baseline controller is first designed based on ideal uncoupled closed-loop dynamics to achieve dynamic decoupling. Then, L1 adaptive control is adopted to deal with various uncertainties and ensure good control performance. To further enhance the anti-disturbance performance, a feedforward strategy based on disturbance prediction is designed in the L1 adaptive control framework to compensate for the unmatched flow disturbance, which cannot be measured directly. In addition, this strategy takes into account the effects of actuator dynamics. With this method, the feedforward term can be determined from the nominal model parameters despite uncertainties. Finally, to demonstrate the effectiveness of the proposed method, various comparative experiments are performed on a hardware-in-the-loop system of ASTF. The experimental results show that the proposed method possesses excellent tracking performance, anti-disturbance performance and robustness.
基金supported by National Natural Science Foundation of China(Grant No.50908008)National Hi-tech Research and Development Program of China(863Program,Grant No.2009AA11Z216)
文摘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.
基金Supported by the National Natural Science Foundation of China(51475116)。
文摘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.
基金National Natural Science Foundation of China(No.50178430)。
文摘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.
文摘The present paper deals with the development of a modular, flexible and structured block to block approach for the study of regulators by implementing the different blocks on a DSP （digital signal processor）. The proposed low-cost approach has been applied and validated by the implementation of an industrial regulator in a real time hardware-in-the-loop simulation of a mixed islanded power network including precise models of the hydraulic system. The studied network is constituted of three different types of electrical power generation systems and a consumer.
文摘AC-HVDC-AC energy conversion systems using MMC （modular multilevel converters） are becoming popular to integrate distributed energy systems to the main grid. Such multilevel converters pose a serious problems for HIL （hardware in the loop） simulators required for control, protection design and testing due to the large number of cells that must be simulated individually using very small time steps. This paper demonstrates the advantages of using a very small time step to simulate a MMC topology. The MMC is implemented on FPGA （fiel-programmable gate array） to simulate fast transient with a time step of 250 ns. The AC network and HVDC bus is simulated on the PC, with a slower time step of 10 μs to 20 μs. The simulator architecture and the components simulated on the FPGA and on the PC will be discussed, as well as the method allowing the interconnection of this slow and fast system.
基金supported by the National Natural Science Foundation of China(62406345).
文摘Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.
基金sponsored by the National Basic Research Program of China (No.2014CB046406)the Key Projects of the National Natural Science Foundation (No.51235002)
文摘This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.
