An electric vehicle simulation system with battery in the loop（BIL） is described in this paper.Virtual models are used for the other parts of power train including the electric motor/controller,transmission and vehi...An electric vehicle simulation system with battery in the loop（BIL） is described in this paper.Virtual models are used for the other parts of power train including the electric motor/controller,transmission and vehicle dynamics,which allows the easy change of system parameters and rapid evaluation of vehicle and battery performance for different vehicle configurations.Tests were conducted using the system and the measurements（voltage and current,efficiency） obtained from the real battery were compared with those obtained from a standard nominal model of the battery.The results indicate that the measured voltage and current between the real battery and those obtained from the model are significantly different.Additionally,it is expected that the difference will increase significantly as the battery ages.展开更多
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 kine...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.展开更多
This paper presents the power hardware in the loop(PHIL)validation of a feed forward DC voltage control scheme for the fault ride through(FRT)of voltage source converter(VSC)high voltage DC(HVDC)connected offshore win...This paper presents the power hardware in the loop(PHIL)validation of a feed forward DC voltage control scheme for the fault ride through(FRT)of voltage source converter(VSC)high voltage DC(HVDC)connected offshore wind power plants(WPPs).In the proposed FRT scheme,the WPP collector network AC voltage is actively controlled by considering both the DC voltage error and the AC current from the WPP AC collector system which ensures fast and robust FRT of the VSC HVDC connected offshore WPPs.The PHIL tests were carried out in order to verify the efficacy of the proposed feed forward DC voltage control scheme for enhancing the FRT capability of the VSC HVDC connected WPPs.The PHIL test results have demonstrated the proper control coordination between the offshore WPP and the WPP side VSC and the efficient FRT of the VSC HVDC connected WPPs.展开更多
There is increasing interest in the evaluation of wind turbine control capabilities for providing grid support.Power hardware in the loop(PHIL)simulation is an advanced method that can be used for studying the interac...There is increasing interest in the evaluation of wind turbine control capabilities for providing grid support.Power hardware in the loop(PHIL)simulation is an advanced method that can be used for studying the interaction of hardware with the power network,as the scaled-down actual wind turbine is connected with a simulated system through an amplifier.Special consideration must be made in the design of the PHIL platform to ensure that the system is stable and yields accurate results.This paper presents a method for stabilizing the PHIL interface and improving the accuracy of PHIL simulation in a real-time application.The method factors in both the power and voltage scaling level,and a phase compensation scheme.It uses the reactive power control capability of the wind turbine inverter to eliminate the phase shift imposed by the feedback current filter.This is accomplished with no negative impact on the dynamic behavior of the wind turbine.The PHIL simulation results demonstrate the effectiveness of the proposed stability analysis method and phase compensation scheme.The strength of the platform is demonstrated by extending the simulation method to wind turbine control validation.展开更多
为实现将智能驾驶辅助系统测试整合纳入车辆品质管理体系流程的目的,探讨并建立开展智能驾驶辅助系统测试的流程和方法,同时为其他整车企业建立相关测试流程提供参考。通过分析国内外智能驾驶辅助系统测试技术的学术研究和应用现状,分别...为实现将智能驾驶辅助系统测试整合纳入车辆品质管理体系流程的目的,探讨并建立开展智能驾驶辅助系统测试的流程和方法,同时为其他整车企业建立相关测试流程提供参考。通过分析国内外智能驾驶辅助系统测试技术的学术研究和应用现状,分别从X in the Loop在环测试方法的实现、整车系统测试技术应用、实验室环境下智能驾驶辅助系统的测试技术3个方面,对目前现有的研究与应用成果进行了梳理,总结行业内开展智能驾驶辅助系统测试的技术原理、评价方法、软硬件条件和场景设置。结合整车制造企业的技术、人员和设备条件,基于分析和总结的结果,建立适用于整车制造企业的智能驾驶辅助系统试验体系和流程,多款车型的试验结果表明,该试验体系能有效地指导完成智能驾驶辅助系统的测试。展开更多
Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded...Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded adhesion conditions on a real railway line. WSP is devoted to regulating applied braking forces to avoid excessive wheel sliding in case of degraded adhesion conditions between wheel and rail. WSP must be also compliant to safety specifications related to assured braking performances and consumed air. Hardware in the loop(HIL) testing offers an affordable and sustainable way to accelerate these activities optimizing cost, duration and safety of experimental activities performed online. HIL test rigs are subjected to continuous updates, customization and natural ageing of their components. This work investigates the criteria that can be adopted to assure a continuous monitoring and validation of a real WSP test rig, the Italian test rig of Firenze Osmannoro.展开更多
With the iterative development of autonomous driving technology,selfdriving cars will be one of the most competitive areas in the future.In order to provide students with a better understanding and more comprehensive ...With the iterative development of autonomous driving technology,selfdriving cars will be one of the most competitive areas in the future.In order to provide students with a better understanding and more comprehensive grasp of autonomous driving technology,a hardware-in-the-loop based autonomous driving simulation test platform has been built.The hardware-in-the-loop system integrates MATLAB/Simulink to build the core control algorithm model,CarMaker simulation software to provide a virtual display interface and vehicle dynamics model,and NVIDIA Jetson to deploy the ECU(Electronic Control Unit)to improve the algorithm power and Logitech G29 series driving simulators providing signal input.It provides a simulation test platform for the development and testing of advanced driver assistance systems,the development and testing of upper layer control algorithms and underlying actuators for autonomous driving,and can provide a teaching and experimental platform for undergraduate students and a development foundation for postgraduate practice.展开更多
Recycling human urine for farming was assessed in a peri-urban Kyanja parish, Kampala district, and in a rural Migyera parish, Nakasongola district, to demonstrate its potential and develop local use guidelines. Test ...Recycling human urine for farming was assessed in a peri-urban Kyanja parish, Kampala district, and in a rural Migyera parish, Nakasongola district, to demonstrate its potential and develop local use guidelines. Test crops were maize, Nakati （Solanum aethiopicum）, kale, spinach, cabbage, tomatoes, egg plants. Urine-water mixtures （0, 10%, 20%, 30% urine） were applied weekly or bi-weekly. At Kyanja, 30% urine weekly gave the highest maize yields. Within 2 months, 10% urine weekly increased Nakati yield from 5,444 to 24,667 kg ha^-1. 20% Urine weekly increased kale yield （7,556 to 16,111 kg ha^-1） and spinach （4,222 to 19,022 kg ha^-1）. At Migyera, 10% urine weekly increased cabbage yield （4,975 to 16,113 kg ha^-1） but 30% urine weekly decreased cabbage head-weight by 36%. Weekly applied urine produced heavier cabbage heads than bi-weekly （548 g vs. 427 g, P 〈 0.05）. LeafN was higher for weekly than bi-weekly applied urine （3.3% vs. 3.0%）, implying more protein in the former than the latter. From this study, the following guidelines are proposed： Kyanja area, maize： apply 30% urine weekly for 8-weeks; Nakati： apply 10% urine weekly for 8-weeks; Kale and spinach： apply 20% urine weekly; For Migyera area, cabbage and spinach： apply 10% urine weekly. Apply urine 15 cm around each plant starting 2-weeks after transplanting. So kale and spinach prolong urine application for continued harvesting.展开更多
This paper is on control system design for visual based indoor inspection by the model helicopters. For the indoor inspection system for large structures, there are some cases where it is difficult for htunans to work...This paper is on control system design for visual based indoor inspection by the model helicopters. For the indoor inspection system for large structures, there are some cases where it is difficult for htunans to work with. This paper introduces indoor inspection helicopter system with only inspection camera and prism for position sensing as payload. The control system is designed to help the operator of the inspection system to control the helicopter to designated position without much practice. The cases of the control by experienced and novice operators are compared and results show that the system has feasibility for indoor inspection system to be used by any kind of users.展开更多
Integration of distributed generation(DG)can change the fault current level and direction in the distribution system,which affects the related protection system.In order to limit the negative impact of DG integration ...Integration of distributed generation(DG)can change the fault current level and direction in the distribution system,which affects the related protection system.In order to limit the negative impact of DG integration and upgrade the protection system performance,an intelligent coordinated protection and control strategy is proposed.A cost based optimization method is adopted to minimize the operation costs of possible solutions.Its aim is to define the optimal relay settings for the present operation condition,and the most suitable control mode of converter based wind turbine DG.Case studies on a hardware in the loop real time simulation platform demonstrate the proposed protection strategy.展开更多
Trust management frameworks are used to evaluate and manage trust relationships between network nodes and enhance network security. However, trust management frameworks themselves are vulnerable to attacks. Attacks ag...Trust management frameworks are used to evaluate and manage trust relationships between network nodes and enhance network security. However, trust management frameworks themselves are vulnerable to attacks. Attacks against trust management frameworks are described in this paper with a trust management framework to resist them. The trustworthiness between nodes is evaluated to classify node behavior using a three-dimensional classifier based on a fuzzy integral. Different behaviors are mapped to different behavioral spaces to detect malicious nodes and identify their behavior types. The security of ad hoc networks is then improved by various measures to handle different types of malicious behavior. Simula- tions of the model on the System In The Loop （SITL） platform show that this trust management framework can separate normal nodes and malicious nodes and can distinguish different types of malicious nodes.展开更多
文摘An electric vehicle simulation system with battery in the loop（BIL） is described in this paper.Virtual models are used for the other parts of power train including the electric motor/controller,transmission and vehicle dynamics,which allows the easy change of system parameters and rapid evaluation of vehicle and battery performance for different vehicle configurations.Tests were conducted using the system and the measurements（voltage and current,efficiency） obtained from the real battery were compared with those obtained from a standard nominal model of the battery.The results indicate that the measured voltage and current between the real battery and those obtained from the model are significantly different.Additionally,it is expected that the difference will increase significantly as the battery ages.
文摘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.
文摘This paper presents the power hardware in the loop(PHIL)validation of a feed forward DC voltage control scheme for the fault ride through(FRT)of voltage source converter(VSC)high voltage DC(HVDC)connected offshore wind power plants(WPPs).In the proposed FRT scheme,the WPP collector network AC voltage is actively controlled by considering both the DC voltage error and the AC current from the WPP AC collector system which ensures fast and robust FRT of the VSC HVDC connected offshore WPPs.The PHIL tests were carried out in order to verify the efficacy of the proposed feed forward DC voltage control scheme for enhancing the FRT capability of the VSC HVDC connected WPPs.The PHIL test results have demonstrated the proper control coordination between the offshore WPP and the WPP side VSC and the efficient FRT of the VSC HVDC connected WPPs.
基金supported in part by the National Basic Research Program of China(973 Program)under Grant 2012CB215105.
文摘There is increasing interest in the evaluation of wind turbine control capabilities for providing grid support.Power hardware in the loop(PHIL)simulation is an advanced method that can be used for studying the interaction of hardware with the power network,as the scaled-down actual wind turbine is connected with a simulated system through an amplifier.Special consideration must be made in the design of the PHIL platform to ensure that the system is stable and yields accurate results.This paper presents a method for stabilizing the PHIL interface and improving the accuracy of PHIL simulation in a real-time application.The method factors in both the power and voltage scaling level,and a phase compensation scheme.It uses the reactive power control capability of the wind turbine inverter to eliminate the phase shift imposed by the feedback current filter.This is accomplished with no negative impact on the dynamic behavior of the wind turbine.The PHIL simulation results demonstrate the effectiveness of the proposed stability analysis method and phase compensation scheme.The strength of the platform is demonstrated by extending the simulation method to wind turbine control validation.
文摘为实现将智能驾驶辅助系统测试整合纳入车辆品质管理体系流程的目的,探讨并建立开展智能驾驶辅助系统测试的流程和方法,同时为其他整车企业建立相关测试流程提供参考。通过分析国内外智能驾驶辅助系统测试技术的学术研究和应用现状,分别从X in the Loop在环测试方法的实现、整车系统测试技术应用、实验室环境下智能驾驶辅助系统的测试技术3个方面,对目前现有的研究与应用成果进行了梳理,总结行业内开展智能驾驶辅助系统测试的技术原理、评价方法、软硬件条件和场景设置。结合整车制造企业的技术、人员和设备条件,基于分析和总结的结果,建立适用于整车制造企业的智能驾驶辅助系统试验体系和流程,多款车型的试验结果表明,该试验体系能有效地指导完成智能驾驶辅助系统的测试。
文摘Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded adhesion conditions on a real railway line. WSP is devoted to regulating applied braking forces to avoid excessive wheel sliding in case of degraded adhesion conditions between wheel and rail. WSP must be also compliant to safety specifications related to assured braking performances and consumed air. Hardware in the loop(HIL) testing offers an affordable and sustainable way to accelerate these activities optimizing cost, duration and safety of experimental activities performed online. HIL test rigs are subjected to continuous updates, customization and natural ageing of their components. This work investigates the criteria that can be adopted to assure a continuous monitoring and validation of a real WSP test rig, the Italian test rig of Firenze Osmannoro.
文摘With the iterative development of autonomous driving technology,selfdriving cars will be one of the most competitive areas in the future.In order to provide students with a better understanding and more comprehensive grasp of autonomous driving technology,a hardware-in-the-loop based autonomous driving simulation test platform has been built.The hardware-in-the-loop system integrates MATLAB/Simulink to build the core control algorithm model,CarMaker simulation software to provide a virtual display interface and vehicle dynamics model,and NVIDIA Jetson to deploy the ECU(Electronic Control Unit)to improve the algorithm power and Logitech G29 series driving simulators providing signal input.It provides a simulation test platform for the development and testing of advanced driver assistance systems,the development and testing of upper layer control algorithms and underlying actuators for autonomous driving,and can provide a teaching and experimental platform for undergraduate students and a development foundation for postgraduate practice.
文摘Recycling human urine for farming was assessed in a peri-urban Kyanja parish, Kampala district, and in a rural Migyera parish, Nakasongola district, to demonstrate its potential and develop local use guidelines. Test crops were maize, Nakati （Solanum aethiopicum）, kale, spinach, cabbage, tomatoes, egg plants. Urine-water mixtures （0, 10%, 20%, 30% urine） were applied weekly or bi-weekly. At Kyanja, 30% urine weekly gave the highest maize yields. Within 2 months, 10% urine weekly increased Nakati yield from 5,444 to 24,667 kg ha^-1. 20% Urine weekly increased kale yield （7,556 to 16,111 kg ha^-1） and spinach （4,222 to 19,022 kg ha^-1）. At Migyera, 10% urine weekly increased cabbage yield （4,975 to 16,113 kg ha^-1） but 30% urine weekly decreased cabbage head-weight by 36%. Weekly applied urine produced heavier cabbage heads than bi-weekly （548 g vs. 427 g, P 〈 0.05）. LeafN was higher for weekly than bi-weekly applied urine （3.3% vs. 3.0%）, implying more protein in the former than the latter. From this study, the following guidelines are proposed： Kyanja area, maize： apply 30% urine weekly for 8-weeks; Nakati： apply 10% urine weekly for 8-weeks; Kale and spinach： apply 20% urine weekly; For Migyera area, cabbage and spinach： apply 10% urine weekly. Apply urine 15 cm around each plant starting 2-weeks after transplanting. So kale and spinach prolong urine application for continued harvesting.
文摘This paper is on control system design for visual based indoor inspection by the model helicopters. For the indoor inspection system for large structures, there are some cases where it is difficult for htunans to work with. This paper introduces indoor inspection helicopter system with only inspection camera and prism for position sensing as payload. The control system is designed to help the operator of the inspection system to control the helicopter to designated position without much practice. The cases of the control by experienced and novice operators are compared and results show that the system has feasibility for indoor inspection system to be used by any kind of users.
基金supported by Norwegian University of Science and Technology.
文摘Integration of distributed generation(DG)can change the fault current level and direction in the distribution system,which affects the related protection system.In order to limit the negative impact of DG integration and upgrade the protection system performance,an intelligent coordinated protection and control strategy is proposed.A cost based optimization method is adopted to minimize the operation costs of possible solutions.Its aim is to define the optimal relay settings for the present operation condition,and the most suitable control mode of converter based wind turbine DG.Case studies on a hardware in the loop real time simulation platform demonstrate the proposed protection strategy.
基金Supported by the National Natural Science Foundation of China (No.60972016)
文摘Trust management frameworks are used to evaluate and manage trust relationships between network nodes and enhance network security. However, trust management frameworks themselves are vulnerable to attacks. Attacks against trust management frameworks are described in this paper with a trust management framework to resist them. The trustworthiness between nodes is evaluated to classify node behavior using a three-dimensional classifier based on a fuzzy integral. Different behaviors are mapped to different behavioral spaces to detect malicious nodes and identify their behavior types. The security of ad hoc networks is then improved by various measures to handle different types of malicious behavior. Simula- tions of the model on the System In The Loop （SITL） platform show that this trust management framework can separate normal nodes and malicious nodes and can distinguish different types of malicious nodes.
