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Herfs, Werner Josef. "Modellbasierte Software in the Loop Simulation von Werkzeugmaschinen /." Aachen : Apprimus-Verl, 2010. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=018939251&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
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Zheng, Yue. "Driver model for a software in the loop simulation tool." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-265668.
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For this project, a Software-In-the-Loop (SIL) simulation tool is used at Scania (“VTAB” – Virtual Truck and Bus), which simulates the submodels of the mechanical vehicle components together with the real control units. The simulation tool contains the following submodels: Engine model, Drivetrain model, Drive cycle model, Restbus model, and Driver model. The simulated human driver submodel in the restbus model outputs two pedal control signals to the control unit, namely the gas and brake pedals. With these two pedal signals, the control unit decides the modes of mechanical vehicle components. This driver model needs to be reworked to obtain a better velocity following performance. Two controllers, fuzzy PI anti-windup and backward calculation, are implemented in the driver model and compared by the velocity tracking accuracy and the pedal switching frequency. In the comparison and analysis section, two different cycles and two weights of payload are simulated. The simulation results demonstrate that both controllers can improve the driver model’s velocity tracing accuracy. Further, the fuzzy PI anti-windup controller is better when considering pedal signals fluctuation frequency and implementation complexity.För detta projekt används ett simuleringsverktyg Software-In-the-Loop (SIL) på Scania (“VTAB” - Virtual Truck and Bus), vilket simulerar submodellerna för de mekaniska fordonskomponenterna tillsammans med de verkliga styrenheterna. Simuleringsverktyget innehåller följande submodeller: Motormodell, Drivmotormodell, Drivcykelmodell, Restbusmodell och Drivermodell. Den simulerade submodellen för mänsklig förare i restbussmodellen kommer att sända två pedalsstyrsignaler till styrenheten, nämligen gas och broms. Med dessa två pedalsignaler kan styrenheten avgöra lägen av mekaniska fordonskomponenter. Denna drivrutinmodell måste omarbetas för att få en bättre hastighetsspårnings presentationsförmåga. Två styrenheter, fuzzy PI anti-windup och bakåtberäkning, implementeras i förarmodell och jämförs respektive med hastighetsspårningsnoggrannhet och pedalväxelfrekvens. I jämförelseoch analysavsnittet simuleras två olika cyklar och två nyttolast. Simuleringsresultaten visar att båda kontrollerna kan förbättra förarmodellens hastighetsspårningskapacitet. Vidare är fuzzy PI-anti-windup-kontroller bättre när man tar hänsyn till pedalsignalernas fluktueringsfrekvens och implementeringskomplexitet
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Edgar, Alexander Montero Vera. "Virtual Commissioning of an industrialwood cutter machine : A software in the loop simulation." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-77401.
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The methods used today for the commissioning and validation of industrial machines requires theconstruction of physical prototypes. Those prototypes help the engineers to e.g. validate if theprogram code meant to control a machine works as intended. In recent years the development ofnew techniques for the commissioning and validation of industrial machines has changed rapidlythanks to the development of new software. The method used in this thesis is called simulationin the loop. Another method that can be benecial to use is hardware in the loop. Using thosemethods for the commissioning of a machine is called virtual commissioning. The simulation inthe loop method is used to simulate both the machine and the control system that operate thatmachine. This is called a digital twin, a virtual copy of the physical hardware and its control systemthat can be used without the need for a real prototype to be available.The software used in this thesis comes all from the company Siemens and those are TIA Portal,Mechatronics Concept Designer, SIMIT and PLCSim Advanced. By using those programs it waspossible to build a digital twin with rigid body dynamics and its control system of the industrialmodel that was given by the company Renholmen AB. This model contained all the necessarycomponents needed for a virtual commissioning project to be done without the need to be at thefactory oor.The results showed that it was possible to achieve a real time simulation, allowing the possibilityto trim the controller parameters without the need of a physical prototype. Design errors were alsofound thanks to the results of the simulation.This new technique has shown to be a useful tool due to most of the work could be done on a digitalmodel of the machine. Simulations can reduce the time to market for industrial machines and alsohelp engineers to validate and optimize the product at an early stage. This tool that can be usedto validate industrial machines before they are created.
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Ashby, Ryan Michael. "Hardware in the Loop Simulation of a Heavy Truck Braking System and Vehicle Control System Design." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366046155.
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Rafeeq, Akhil Ahmed. "A Development Platform to Evaluate UAV Runtime Verification Through Hardware-in-the-loop Simulation." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/99041.
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The popularity and demand for safe autonomous vehicles are on the rise. Advances in semiconductor technology have led to the integration of a wide range of sensors with high-performance computers, all onboard the autonomous vehicles. The complexity of the software controlling the vehicles has also seen steady growth in recent years. Verifying the control software using traditional verification techniques is difficult and thus increases their safety concerns.
Runtime verification is an efficient technique to ensure the autonomous vehicle's actions are limited to a set of acceptable behaviors that are deemed safe. The acceptable behaviors are formally described in linear temporal logic (LTL) specifications. The sensor data is actively monitored to verify its adherence to the LTL specifications using monitors. Corrective action is taken if a violation of a specification is found.
An unmanned aerial vehicle (UAV) development platform is proposed for the validation of monitors on configurable hardware. A high-fidelity simulator is used to emulate the UAV and the virtual environment, thereby eliminating the need for a real UAV. The platform interfaces the emulated UAV with monitors implemented on configurable hardware and autopilot software running on a flight controller. The proposed platform allows the implementation of monitors in an isolated and scalable manner. Scenarios violating the LTL specifications can be generated in the simulator to validate the functioning of the monitors.Master of Science
Safety is one of the most crucial factors considered when designing an autonomous vehicle. Modern vehicles that use a machine learning-based control algorithm can have unpredictable behavior in real-world scenarios that were not anticipated while training the algorithm. Verifying the underlying software code with all possible scenarios is a difficult task. Runtime verification is an efficient solution where a relatively simple set of monitors validate the decisions made by the sophisticated control software against a set of predefined rules. If the monitors detect an erroneous behavior, they initiate a predetermined corrective action. Unmanned aerial vehicles (UAVs), like drones, are a class of autonomous vehicles that use complex software to control their flight. This thesis proposes a platform that allows the development and validation of monitors for UAVs using configurable hardware. The UAV is emulated on a high-fidelity simulator, thereby eliminating the time-consuming process of flying and validating monitors on a real UAV. The platform supports the implementation of multiple monitors that can execute in parallel. Scenarios to violate rules and cause the monitors to trigger corrective actions can easily be generated on the simulator.
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Fåhraeus, Karin. "Enhancement of the Mechatronic Development Process with Software in the loop Simulation : An embedded control case study." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-180947.
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This master thesis is performed at the mechatronic department at the company Mycronic, which are responsible for the embedded software in their pick and place machines. Today the embedded code can be executed and tested on a PIL simulation, where the control code runs on the actual target processor and the dynamic of the system (plant model) is modeled by a mathematical equation implemented as a C-function on the target board. The task is to find away to run the simulation with the real embedded code on a desktop computer. The aim is to investigate and examine how this simulation can be achieved and the advantages and opportunities it brings to the development process of the embedded system. For embedded system, Model-based Development usually refers to control and plant modelsand simulations and in the loop simulations. In a model-based workflow it starts with Model in the loop (MIL), then Software in the loop (SIL), Processor in the loop (PIL) and finally Hardware in the loop (HIL). Software in the loop simulation means that the plant is modeled but the control is executed in a low level language such as C and the simulation runs on a desktop computer. The investigation on how to implement a simulation resulted in a prototype SIL simulator, representing one of the axes. The simulation executes the control C-code together with a z-axis plant model on a Linux desktop computer. It is realized in two ways, where both are based on compiling the control code for a Linux computer and the difference is the implementation of the plant model. For the first simulation method, the plant models is represented in the same way as the PIL simulation and for the second simulation method the plant model is represented in Simulink. The result from this master thesis is that the SIL simulation has shown to be very useful andhave a lot of advantages. The SIL simulation gives an opportunity to execute and test the code and the control before it is integrated with the target processor. Problems and errors can thus be detected early. One of the big advantages is that it is not dependent of any hardware and any other software/tool. With the SIL simulation the code gets easier to debug, longer logscan be achieved and the simulation gets closer to reality than when modeling the control. A very important part of the SIL simulation is that it includes the interaction between the mechanical design, the control design and the software design which is very important in mechatronics system. The SIL simulation contributes to be able to run the main software together with the simulation, which helps in the integration tests.Detta examensarbete är utfört på företaget Mycronic på deras mekatronikavdelning, vilka är ansvarig för utvecklingen av den inbyggda mjukvaran i deras ytmonteringsmaskiner. I dagsläget kan den inbyggda koden köras och testas i en PIL simulering, där kontrollkoden körs på det inbyggda systemet medan dynamiken av systemet är modellerad och uttryckt med matematiska ekvationer implementerat i en C-funktion. Uppgiften är att hitta ett sätt att köra en simulering med den riktiga inbyggda koden på en dator. Syftet med examensarbetet är att utreda och undersöka hur denna simulering kan förbättra utvecklingsprocessen för den inbyggda koden hos Mycronic. För inbyggda system och reglerteknik syftar Model-based Development (modellbaserad utveckling) oftast på att modeller och simulering av styrsystemet och det dynamiska systemet. Ett modellbaserat arbetsflöde startar med Model in the loop (MIL), sedan Software in the loop (SIL), Processor in the loop (PIL) och sist Hardware in the loop (HIL). Software in the loop simulering betyder att det dynamiska systemet är modellerat men styrsystemet är implementerat i en lågnivå programmeringsspråk så som C. Resultatet från undersökning som innefattade att hitta ett sätta att implementera en simulering var en SIL simulering som representerar en av axlarna och körs på två olika sätt. Simuleringen kör styrsystemets kod tillsammans med en modellering av det dynamiska systemet där skillnaden är implementeringen av denna modell. För den första metoden implementeras dynamiken på samma sätta som PIL simuleringen och för den andra metoden implementeras dynamiken i en modell i Simulink. Resultatet från detta examensarbete är att SIL simuleringen har visat sig vara väldigt användbar och har många fördelar. SIL simuleringen ger en möjlighet att köra och testa koden och regleringen innan den köra på det inbyggda systemets processor. Problem och fel kan på sätt upptäckas tidigt. En stor fördel är att SIL simuleringen inte är beroende av någon hårdvara eller annan mjukvara. Det blir enklare att felsöka koden med SIL simuleringen och längre loggningar kan göras då minnet inte är så begränsat som på det inbyggda systemet. En väldigt viktig fördel med SIL simuleringen är att den inkluderar interaktionen mellan den mekaniska, regler och mjukvaru designen. Den bidrar även till att kunna köra huvudmjukvaran ihop med det inbyggda systemets simulering, vilket hjälper till i integrationsprocessen.
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King, Jonathan Charles. "Model-Based Design of a Plug-In Hybrid Electric Vehicle Control Strategy." Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/34962.
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For years the trend in the automotive industry has been toward more complex electronic control systems. The number of electronic control units (ECUs) in vehicles is ever increasing as is the complexity of communication networks among the ECUs. Increasing fuel economy standards and the increasing cost of fuel is driving hybridization and electrification of the automobile. Achieving superior fuel economy with a hybrid powertrain requires an effective and optimized control system. On the other hand, mathematical modeling and simulation tools have become extremely advanced and have turned simulation into a powerful design tool. The combination of increasing control system complexity and simulation technology has led to an industry wide trend toward model based control design. Rather than using models to analyze and validate real world testing data, simulation is now the primary tool used in the design process long before real world testing is possible. Modeling is used in every step from architecture selection to control system validation before on-road testing begins.
The Hybrid Electric Vehicle Team (HEVT) of Virginia Tech is participating in the 2011-2014 EcoCAR 2 competition in which the team is tasked with re-engineering the powertrain of a GM donated vehicle. The primary goals of the competition are to reduce well to wheels (WTW) petroleum energy use (PEU) and reduce WTW greenhouse gas (GHG) and criteria emissions while maintaining performance, safety, and consumer acceptability. This paper will present systematic methodology for using model based design techniques for architecture selection, control system design, control strategy optimization, and controller validation to meet the goals of the competition. Simple energy management and efficiency analysis will form the primary basis of architecture selection. Using a novel method, a series-parallel powertrain architecture is selected. The control system architecture and requirements is defined using a systematic approach based around the interactions between control units. Vehicle communication networks are designed to facilitate efficient data flow. Software-in-the-loop (SIL) simulation with Mathworks Simulink is used to refine a control strategy to maximize fuel economy. Finally hardware-in-the-loop (HIL) testing on a dSPACE HIL simulator is demonstrated for performance improvements, as well as for safety critical controller validation. The end product of this design study is a control system that has reached a high level of parameter optimization and validation ready for on-road testing in a vehicle.Master of Science
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Dočekal, Martin. "HIL simulace manipulátorů nebo stroje." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444291.
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The diploma thesis deals with HIL simulation (hardware in the loop). The thesis contains a manipulator created in the virtual software V-REP. The connection of real inputs and virtual outputs of the machine is realized by the microcontroller Arduino UNO. The first task deals with the control of the manipulator using the joystick PS2. The second task is a separate control of the robot using an microcontroller Arduino UNO. The resulting connection can be modified in the furher and the interface modified. The work will be used for educational purposes.
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Haffar, Mohamad. "Développement d'une plateforme de co-simulation en vue de validation et d'évaluation de performances des systèmes de communication pour les installations de distribution électriques." Thesis, Grenoble, 2011. http://www.theses.fr/2011GRENT043.
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Un système de distribution électrique est le cœur de tous types de sites industriels, aussi bien les sites producteurs d'énergie que les sites consommateurs. La sécurité de ce système doit être impérativement assurée par la mise en place des unités assurant plusieurs fonctionnalités de protection contre les dédauts électriques. Parmi ces fonctionalités il existe celles qui se basent sur des échanges d'information entre plusieurs unités de protection. Le standard IEC 61850 guarantit cet échange des informations via des signaux ‘temps réel' échangé via le réseau de communication. Vue l'aspet non deterministe de ces signaux, une étude poussée de leur fiabilité doit être effectuée. Pour ces raisons notre travail de thèse a pour objectif de mettre en place une méthodologie, basée sur une plateforme de Co-Simulation conçue pendant notre étude, qui permet la validation de la fiabilité de ces messages tout au long du cycle de vie d'un système de communication IEC 61850From 2004, a new worldwide standard of communication IEC61850 is introduced in the majority of substation automation system carrying out new innovation prospects to the world of substation. One of these feature is that it allows the exchange of security real time communication messages all over the communication network. These messages are used as control information for the Distributed Automation Application 'DAA'. Taking into consideration that DAA have a direct effect on ythe dependability of a smart grid architecture, the fiability of these real time IEC 61850 should be evaluated. For these reasons, our research delas with the development of a Co-Simulation platform that permits the evaluation and validation of an IEC 61850 communication network
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de, Graaf Niels. "Simulation of Attitude and Orbit Control for APEX CubeSat." Thesis, Luleå tekniska universitet, Rymdteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-80736.
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CubeSats are becoming a game changer in the space industry. Appearing first for univer-sity mission, its popularity is increasing for commercial use and for deep space missionssuch as the on HERA mission that will orbit in 2026 around an asteroid as part of aplanetary defence mission. Standardisation and industrial collaboration is key to a fastdevelopment, assuring the product quality and lower development expenditures.In this study the focus is set elaborating a low cost demonstrator platform to be usedfor developing and testing onboard software on physical hardware: a Hardware-Softwaretesting facility. The purpose of such a platform is to create an interactive and accessibleenvironment for developing on board software. The application chosen to be elaboratedon this platform is a module the subsystem of attitude and orbit control of the satelliteorbiting around asteroid.In order to create this platform the simulation of the asteroid environment of theCubeSat has been made using open source software libraries. During this task the per-formance of open source libraries has been compared to commercial alternatives. In thedevelopment of simulation different orbit perturbations have been studied by modellingthe asteroid as a cube or spheroid and additionally the effect of a third perturbing bodyand radiation pressure.As part of this project two microcontroller have been set up communicating using acommunication bus and communication protocols used for space applications to simulatehow the attitude and orbit control is commanded inside the CubeSat.
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Manning, Peter Christopher. "Development of a Series Parallel Energy Management Strategy for Charge Sustaining PHEV Operation." Thesis, Virginia Tech, 2014. http://hdl.handle.net/10919/49436.
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The Hybrid Electric Vehicle Team of Virginia Tech (HEVT) is participating in the 2012-2014 EcoCAR 2: Plugging in to the Future Advanced Vehicle Technology Competition series organized by Argonne National Lab (ANL), and sponsored by General Motors Corporation (GM) and the U.S. Department of Energy (DOE). The goals of the competition are to reduce well-to-wheel (WTW) petroleum energy consumption (PEU), WTW greenhouse gas (GHG) and criteria emissions while maintaining vehicle performance, consumer acceptability and safety. Following the EcoCAR 2 Vehicle Development Process (VDP) of designing, building, and refining an advanced technology vehicle over the course of the three year competition using a 2013 Chevrolet Malibu donated by GM as a base vehicle, the selected powertrain is a Series-Parallel Plug-In Hybrid Electric Vehicle (PHEV) with P2 (between engine and transmission) and P4 (rear axle) motors, a lithium-ion battery pack, an internal combustion engine, and an automatic transmission.
Development of a charge sustaining control strategy for this vehicle involves coordination of controls for each of the main powertrain components through a distributed control strategy. This distributed control strategy includes component controllers for each individual component and a single supervisory controller responsible for interpreting driver demand and determining component commands to meet the driver demand safely and efficiently. For example, the algorithm accounts for a variety of system operating points and will penalize or reward certain operating points for other conditions. These conditions include but are not limited to rewards for discharging the battery when the state of charge (SOC) is above the target value or penalties for operating points with excessive emissions. Development of diagnostics and remedial actions is an important part of controlling the powertrain safely. In order to validate the control strategy prior to in-vehicle operation, simulations are run against a plant model of the vehicle systems. This plant model can be run in both controller Software- and controller Hardware-In-the-Loop (SIL and HIL) simulations.
This paper details the development of the controls for diagnostics, major selection algorithms, and execution of commands and its integration into the Series-Parallel PHEV through the supervisory controller. This paper also covers the plant model development and testing of the control algorithms using controller SIL and HIL methods. This paper details reasons for any changes to the control system, and describes improvements or tradeoffs that had to be made to the control system architecture for the vehicle to run reliably and meet its target specifications. Test results illustrate how changes to the plant model and control code properly affect operation of the control system in the actual vehicle. The VT Malibu is operational and projected to perform well at the final competition.Master of Science
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Rakotozafy, Andriamaharavo. "Simulation temps réel de dispositifs électrotechniques." Thesis, Université de Lorraine, 2014. http://www.theses.fr/2014LORR0385/document.
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Les contrôleurs industriels font l’objet de changements de paramètres, de modifications, d’améliorations en permanence. Ils subissent les évolutions technologiques aussi bien matérielles que logicielles (librairies, système d’exploitation, loi de commande...). Malgré ces contraintes, ces contrôleurs doivent obligatoirement assurer toutes les fonctionnalités recouvrant le séquentiel, les protections, l’interface homme machine et la stabilité du système à contrôler. Ces fonctionnalités doivent être couvertes pour une large gamme d’applications. Chaque modification (matérielle ou logicielle) quoique mineure est risquée. Le debogage, l’analyse et la programmation sur site sont énormément coûteux surtout pour des sites de type offshore ou marine. Les conditions de travail sont difficiles et les tests sont réduits au strict minimum. Cette thèse propose deux niveaux de validation en plateforme d’expérimentation : un niveau de validation algorithmique que l’on appelle Validation par Interface Logicielle (VIL) traitée au chapitre 2 ; un niveau de validation physique que l’on appelle Validation par Interface Matérielle (VIM) traitée au chapitre 3. La VIL valide uniquement l’aspect algorithme, la loi de commande et la conformité des références au niveau calcul sans prendre en compte les signaux de commande physiques et les signaux de retour gérés par l’Unité de Gestion des Entrées/Sorties (UGES). Un exemple de validation d’un contrôleur industriel d’un ensemble convertisseur trois niveaux et machine asynchrone est traité dans le deuxième chapitre avec une modélisation particulièrement adaptée à la VIL. Le dernier chapitre traite la VIM sur différentes bases matérielles (Field Programmable Gate Array (FPGA), processeurs). Cette validation prend en compte l’aspect algorithme et les signaux de commande physique ainsi que les signaux de retour. On y présente plusieurs approches de modélisation, choisies selon la base matérielle d’implémentation du simulateur temps réel. Ces travaux ont contribué aujourd’hui à au processus de validation des contrôleurs dédiés aux applications Oil and Gaz et Marine de General Electric - Power Conversion © (GE-PC)Industrial controllers are always subjected to parameters change, modifications and permanent improvements. They have to follow off-the-shelf technologies as well as hardware than software (libraries, operating system, control regulations ...). Apart from these primary necessities, additional aspects concerning the system operation that includes sequential, protections, human machine interface and system stability have to be implemented and interfaced correctly. In addition, these functions should be generically structured to be used in common for wide range of applications. All modifications (hardware or software) even slight ones are risky. In the absence of a prior validation system, these modifications are potentially a source of system instability or damage. On-site debugging and modification are not only extremely expensive but can be highly risky, cumulate expenditure and reduce productivity. This concerns all major industrial applications, Oil & Gas installations and Marine applications. Working conditions are difficult and the amount of tests that can be done is strictly limited to the mandatory ones. This thesis proposes two levels of industrial controller validation which can be done in experimental test platform : an algorithm validation level called Software In the Loop (SIL) treated in the second chapter ; a physical hardware validation called Hardware In the Loop (HIL) treated in the third chapter. The SIL validates only the control algorithm, the control law and the computed references without taking into account neither the actual physical commands nor the physical input feedbacks managed by the Input/Output boards. SIL validation of the system where industrial asynchronous motor is fed and regulated by a three level Variable Speed Drive with a three level voltage source converter is treated in the second chapter with a particular modeling approach adapted to such validation. The last chapter presents the HIL validation with various hardware implementations (Field Programmable Gate Array (FPGA), processors). Such validation checks both the control algorithm and the actual physical Input/Output signals generated by the dedicated boards. Each time, the modeling approach is chosen according to the hardware implementation. Currently this work has contributed to the system validation used by General Electric - Power Conversion © (GE-PC) as part of their validation phase that is mandatory for Oil & Gas projects and Marine applications
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Pieper, Tobias [Verfasser], and Roman [Gutachter] Obermaisser. "Distributed co-simulation framework for hardware- and software-in-the-loop testing of networked embedded real-time systems / Tobias Pieper ; Gutachter: Roman Obermaisser." Siegen : Universitätsbibliothek der Universität Siegen, 2020. http://d-nb.info/1220506214/34.
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Silva, Hilgad Montelo da. "Simulação com hardware in the loop aplicada a veículos submarinos semi-autônomos." Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-09022009-164239/.
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Veículos Submarinos Não Tripulados (UUVs Unmanned Underwater Vehicles) possuem muitas aplicações comerciais, militares e científicas devido ao seu elevado potencial e relação custo-desempenho considerável quando comparados a meios tradicionais utilizados para a obtenção de informações provenientes do meio subaquático. O desenvolvimento de uma plataforma de testes e amostragem confiável para estes veículos requer o projeto de um sistema completo além de exigir diversos e custosos experimentos realizados no mar para que as especificações possam ser devidamente validadas. Modelagem e simulação apresentam medidas de custo efetivo para o desenvolvimento de componentes preliminares do sistema (software e hardware), além de verificação e testes relacionados à execução de missões realizadas por veículos submarinos reduzindo, portanto, a ocorrência de potenciais falhas. Um ambiente de simulação preciso pode auxiliar engenheiros a encontrar erros ocultos contidos no software embarcado do UUV além de favorecer uma maior introspecção dentro da dinâmica e operação do veículo. Este trabalho descreve a implementação do algoritmo de controle de um UUV em ambiente MATLAB/SIMULINK, sua conversão automática para código compilável (em C++) e a verificação de seu funcionamento diretamente no computador embarcado por meio de simulações. Detalham-se os procedimentos necessários para permitir a conversão dos modelos em MATLAB para código C++, integração do software de controle com o sistema operacional de tempo real empregado no computador embarcado (VxWORKS) e a estratégia de simulação com Hardware In The Loop (HIL) desenvolvida - A principal contribuição deste trabalho é apresentar de forma racional uma estrutura de trabalho que facilite a implementação final do software de controle no computador embarcado a partir do modelo desenvolvido em um ambiente amigável para o projetista, como o SIMULINK.Unmanned Underwater Vehicles (UUVs) have many commercial, military, and scientific applications because of their potential capabilities and significant costperformance improvements over traditional means of obtaining valuable underwater information The development of a reliable sampling and testing platform for these vehicles requires a thorough system design and many costly at-sea trials during which systems specifications can be validated. Modeling and simulation provide a cost-effective measure to carry out preliminary component, system (hardware and software), and mission testing and verification, thereby reducing the number of potential failures in at-sea trials. An accurate simulation environment can help engineers to find hidden errors in the UUV embedded software and gain insights into the UUV operation and dynamics. This work describes the implementation of a UUV\'s control algorithm using MATLAB/SIMULINK, its automatic conversion to an executable code (in C++) and the verification of its performance directly into the embedded computer using simulations. It is detailed the necessary procedure to allow the conversion of the models from MATLAB to C++ code, integration of the control software with the real time operating system used on the embedded computer (VxWORKS) and the developed strategy of Hardware in the loop Simulation (HILS). The Main contribution of this work is to present a rational framework to support the final implementation of the control software on the embedded computer, starting from the model developed on an environment friendly to the control engineers, like SIMULINK.
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Brink, Michael Joseph. "Hardware-in-the-loop simulation of pressurized water reactor steam-generator water-level control, designed for use within physically distributed testing environments." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1357273230.
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Cho, B. "Control of a hybrid electric vehicle with predictive journey estimation." Thesis, Cranfield University, 2008. http://hdl.handle.net/1826/2589.
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Battery energy management plays a crucial role in fuel economy improvement of
charge-sustaining parallel hybrid electric vehicles. Currently available control strategies
consider battery state of charge (SOC) and driver’s request through the pedal input in
decision-making. This method does not achieve an optimal performance for saving fuel
or maintaining appropriate SOC level, especially during the operation in extreme
driving conditions or hilly terrain. The objective of this thesis is to develop a control
algorithm using forthcoming traffic condition and road elevation, which could be fed
from navigation systems. This would enable the controller to predict potential of
regenerative charging to capture cost-free energy and intentionally depleting battery
energy to assist an engine at high power demand.
The starting point for this research is the modelling of a small sport-utility vehicle by
the analysis of the vehicles currently available in the market. The result of the analysis
is used in order to establish a generic mild hybrid powertrain model, which is
subsequently examined to compare the performance of controllers. A baseline is
established with a conventional powertrain equipped with a spark ignition direct
injection engine and a continuously variable transmission. Hybridisation of this vehicle
with an integrated starter alternator and a traditional rule-based control strategy is
presented. Parameter optimisation in four standard driving cycles is explained, followed
by a detailed energy flow analysis.
An additional potential improvement is presented by dynamic programming (DP),
which shows a benefit of a predictive control. Based on these results, a predictive
control algorithm using fuzzy logic is introduced. The main tools of the controller
design are the DP, adaptive-network-based fuzzy inference system with subtractive
clustering and design of experiment. Using a quasi-static backward simulation model,
the performance of the controller is compared with the result from the instantaneous
control and the DP. The focus is fuel saving and SOC control at the end of journeys,
especially in aggressive driving conditions and a hilly road. The controller shows a
good potential to improve fuel economy and tight SOC control in long journey and hilly
terrain. Fuel economy improvement and SOC correction are close to the optimal solution by the DP, especially in long trips on steep road where there is a large gap
between the baseline controller and the DP. However, there is little benefit in short trips
and flat road. It is caused by the low improvement margin of the mild hybrid powertrain
and the limited future journey information.
To provide a further step to implementation, a software-in-the-loop simulation model is
developed. A fully dynamic model of the powertrain and the control algorithm are
implemented in AMESim-Simulink co-simulation environment. This shows small
deterioration of the control performance by driver’s pedal action, powertrain dynamics
and limited computational precision on the controller performance.
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Prat, Sophie. "Intégration de techniques de vérification par simulation dans un processus de conception automatisée de contrôle commande." Thesis, Lorient, 2017. http://www.theses.fr/2017LORIS476/document.
Full textAbstract:
Aujourd’hui, la conception ne porte plus sur de simples objets, mais sur des systèmes complexes, sociotechniques et ouverts. Les systèmes de conduite de procédés font partie de ce type de systèmes, où les performances du système reposent sur l’optimisation conjointe des composantes humaines et techniques. Afin de limiter la détection d’erreur tardive, il devient alors important de pouvoir effectuer des tests tout au long de la conception, sans augmenter les coûts et les délais de conception. L’objectif de nos travaux est de faciliter l’intégration de techniques de vérification par simulation, dès le début de la conception, pour des systèmes de conduite de procédés de type gestion de fluide. Pour tenir compte du caractère adaptable du système et de son évolution dans un environnement dynamique, une première contribution porte sur la démarche de vérification, basée sur la formalisation et la contextualisation des propriétés à vérifier. Puis, afin de faciliter l’obtention des modèles de simulation du procédé nécessaires à la mise en œuvre des vérifications tout au long de la conception, nous proposons une approche de génération automatisée des modèles de simulation du procédé dans le langage Modelica (modélisation multi-domaine), à partir d’un schéma P&ID (représentation de l’architecture fonctionnelle du procédé) et d’une bibliothèque d’éléments (contenant les modèles de simulation des éléments). L’implémentation de cette approche dans le cadre du flot de conception automatisée de contrôle- commande d’Anaxagore permet d’apporter une preuve de concept et une preuve d’usage de nos propositionsNowadays, engineers have to design open, complex and sociotechnical systems. The process control systems belong to this class of systems, in which the system performance relies on the joint optimisation of technical components and human components. To avoid the late discovery of design errors, it is necessary to perform tests throughout the design without adding design costs and delays. The aim of this work is therefore to facilitate the integration of checking by simulation, from early design stage, for process control systems such as fluid management systems. Regarding the adaptable feature of the system and its evolution in a dynamic environment, a first contribution focusses on the verification approach, by modelling the requirements within the context. Then, to facilitate the obtaining of the process simulation models required for checking throughout the design, we propose an automatic generation approach of simulation models in Modelica language (multi-domain modelling), from a P&ID model (modelling of the functional architecture of the process) and a library of elements (containing the simulation models of elements). To provide a proof of concept and a proof of use of our proposals, this approach has been implemented into Anaxagore, an automated design flow for monitoring and control
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Ryd, Jonatan, and Jeffrey Persson. "Development of a pipeline to allow continuous development of software onto hardware : Implementation on a Raspberry Pi to simulate a physical pedal using the Hardware In the Loop method." Thesis, KTH, Hälsoinformatik och logistik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296952.
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Saab want to examine Hardware In the Loop method as a concept, and how an infrastructure of Hardware In the Loop would look like. Hardware In the Loop is based upon continuously testing hardware, which is simulated. The software Saab wants to use for the Hardware In the Loop method is Jenkins, which is a Continuous Integration, and Continuous Delivery tool. To simulate the hardware, they want to examine the use of an Application Programming Interface between a Raspberry Pi, and the programming language Robot Framework. The reason Saab wants this examined, is because they believe that this method can improve the rate of testing, the quality of the tests, and thereby the quality of their products.The theory behind Hardware In the Loop, Continuous Integration, and Continuous Delivery will be explained in this thesis. The Hardware In the Loop method was implemented upon the Continuous Integration and Continuous Delivery tool Jenkins. An Application Programming Interface between the General Purpose Input/Output pins on a Raspberry Pi and Robot Framework, was developed. With these implementations done, the Hardware In the Loop method was successfully integrated, where a Raspberry Pi was used to simulate the hardware.Saab vill undersöka metoden Hardware In the Loop som ett koncept, dessutom hur en infrastruktur av Hardware In the Loop skulle se ut. Hardware In the Loop baseras på att kontinuerligt testa hårdvara som är simulerad. Mjukvaran Saab vill använda sig av för Hardware In the Loop metoden är Jenkins, vilket är ett Continuous Integration och Continuous Delivery verktyg. För attsimulera hårdvaran vill Saab undersöka användningen av ett Application Programming Interface mellan en Raspberry Pi och programmeringsspråket Robot Framework. Anledning till att Saab vill undersöka allt det här, är för att de tror att det kan förbättra frekvensen av testning och kvaliteten av testning, vilket skulle leda till en förbättring av deras produkter. Teorin bakom Hardware In the Loop, Continuous Integration och Continuous Delivery kommer att förklaras i den här rapporten. Hardware In the Loop metoden blev implementerad med Continuous Integration och Continuous Delivery verktyget Jenkins. Ett Application Programming Interface mellan General Purpose Input/output pinnarna på en Raspberry Pi och Robot Framework blev utvecklat. Med de här implementationerna utförda, så blev Hardware Inthe Loop metoden slutligen integrerat, där Raspberry Pis användes för att simulera hårdvaran.
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Bruno, Liam T. "Three Axis Attitude Control System Design and Analysis Tool Development for the Cal Poly CubeSat Laboratory." DigitalCommons@CalPoly, 2020. https://digitalcommons.calpoly.edu/theses/2288.
Full textAbstract:
The Cal Poly CubeSat Laboratory (CPCL) is currently facing unprecedented engineering challenges—both technically and programmatically—due to the increasing cost and complexity of CubeSat flight missions. In responding to recent RFPs, the CPCL has been forced to find commercially available solutions to entire mission critical spacecraft subsystems such as propulsion and attitude determination & control, because currently no in-house options exist for consideration. The commercially available solutions for these subsystems are often extremely expensive and sometimes provide excessively good performance with respect to mission requirements. Furthermore, use of entire commercial subsystems detracts from the hands-on learning objectives of the CPCL by removing engineering responsibility from students. Therefore, if these particular subsystems can be designed, tested, and integrated in-house at Cal Poly, the result would be twofold: 1) the space of missions supportable by the CPCL under tight budget constraints will grow, and 2) students will be provided with unique, hands-on guidance, navigation, and control learning opportunities. In this thesis, the CPCL’s attitude determination and control system design and analysis toolkit is significantly improved to support in-house ADCS development. The toolkit—including the improvements presented in this work—is then used to complete the existing, partially complete CPCL ADCS design. To fill in missing gaps, particular emphasis is placed on guidance and control algorithm design and selection of attitude actuators. Simulation results show that the completed design is competitive for use in a large class of small satellite missions for which pointing accuracy requirements are on the order of a few degrees.
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Daniels, Oskar. "Driver-truck models for software-in-the-loop simulations." Thesis, Linköpings universitet, Fordonssystem, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-111515.
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By using vehicle-to-vehicle communication, vehicles can cooperate in many waysby sending positions and other relevant data between each other. One popularexample is platooning where many, especially heavy vehicles, drive on a trailwith short distances resulting in a reduction of air resistance. To achieve a goodefficiency of the platooning it is required that vehicle fleets are coordinated, sothat the percentage of time for driving in platoon is maximized without affectingthe total driving time and distance too much. For large fleets, this is a complexoptimization problem which would be difficult to solve by only using the realworld as the test environment. To provide a more adaptable test environment for the communication and platooningcoordination, an augmented reality with virtual vehicles (“Ghost trucks")with relevant communication abilities are developed. In order to realise the virtualtesting environment for trucks, Scania initiated a project that could be dividedinto the workload of three master theses. This thesis involved the part ofdeveloping the virtual vehicles, which include the development of a truck modeland a driver model. The developed truck model consists of a single track vehicle model and severalpowertrain models of different complexity provided by Scania. Additionally, thedriver model consists of steering wheel and speed controls in order to keep thetruck on a safe distance from the lead truck and stay on a preferred lane. The keyfeature of the driver-truck model is its modular design, which provides great flexibilityin selecting the level of detail for each component. The driver-truck modelcan be duplicated and simulated together in real time and performs platooningwith each other in a road system based on the real world. As the driver-truckmodel is module based, it can easily be extended for future purposes with morecomplex functions. The driver-truck model is implemented in Simulink and the simulation performancefor different model complexity is evaluated. It is demonstrated that theflexibility of the developed model allows a balanced decision to be made betweenrealistic truck behavior and simulation speed. Furthermore, multi-truck simulationsare performed using the model, which demonstrate the effectiveness of themodel in the evaluation of truck platooning operations.
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Underwood, Ryan C. "An open framework for highly concurrent hardware-in-the-loop simulation." Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.mst.edu/thesis/pdf/Underwood_09007dcc8042c7c7.pdf.
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Thesis (M.S.)--University of Missouri--Rolla, 2007.Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed February 14, 2008) Includes bibliographical references (p. 37-40).
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Tjerngren, Jon. "Modeling and Hardware-in-the-loop Simulations of Contactor Dynamics : Mechanics, Electromagnetics and Software." Thesis, Linköpings universitet, Institutionen för systemteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-107744.
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This master thesis’s subject is to model an ABB contactor’s dynamics and to develop a hardware-in-the-loop simulation environment. The hardware-in-the-loop method utilizes computer models that are simulated in a real-time simulator. The real-time simulator is connected to hardware components. A contactor is an electrically controlled mechanical switching device and it is used in circuits where large currents can occur. In this thesis, the contactor is divided into three separate subsystems and models are developed for each of them. The three subsystems correspond to the contactor’s mechanics, electromagnetics and electronic components. Computer models are implemented in MATLAB and Simulink to realize the subsystems. The hardware part, of the hardware-in-the-loop simulations, consists of electronic parts that are not modeled. To connect the hardware part to a real-time simulator, from dSPACE, a hardware interface was constructed. This report focuses on the modeling of the mechanics and the electromagnetics as well as the software implementations. The thesis work was carried out in collaboration with another student. The focuses of his report are the modeling of the electronics and the construction of the hardware interface. Validation of the hardware-in-the-loop simulations is done by using measurements collected from a real contactor. The conclusion is that the simulations of the contactor’s behavior correspond well with a real contactor.
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Wilkerson, Jaxon. "Handoff of Advanced Driver Assistance Systems (ADAS) using a Driver-in-the-Loop Simulator and Model Predictive Control (MPC)." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1595262540712316.
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Goyal, Sachin. "Power network in the loop : subsystem testing using a switching amplifier." Queensland University of Technology, 2009. http://eprints.qut.edu.au/26521/.
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“Hardware in the Loop” (HIL) testing is widely used in the automotive industry. The sophisticated electronic control units used for vehicle control are usually tested and evaluated using HIL-simulations. The HIL increases the degree of realistic testing of any system. Moreover, it helps in designing the structure and control of the system under test so that it works effectively in the situations that will be encountered in the system. Due to the size and the complexity of interaction within a power network, most research is based on pure simulation. To validate the performance of physical generator or protection system, most testing is constrained to very simple power network. This research, however, examines a method to test power system hardware within a complex virtual environment using the concept of the HIL. The HIL testing for electronic control units and power systems protection device can be easily performed at signal level. But performance of power systems equipments, such as distributed generation systems can not be evaluated at signal level using HIL testing. The HIL testing for power systems equipments is termed here as ‘Power Network in the Loop’ (PNIL). PNIL testing can only be performed at power level and requires a power amplifier that can amplify the simulation signal to the power level. A power network is divided in two parts. One part represents the Power Network Under Test (PNUT) and the other part represents the rest of the complex network. The complex network is simulated in real time simulator (RTS) while the PNUT is connected to the Voltage Source Converter (VSC) based power amplifier. Two way interaction between the simulator and amplifier is performed using analog to digital (A/D) and digital to analog (D/A) converters. The power amplifier amplifies the current or voltage signal of simulator to the power level and establishes the power level interaction between RTS and PNUT. In the first part of this thesis, design and control of a VSC based power amplifier that can amplify a broadband voltage signal is presented. A new Hybrid Discontinuous Control method is proposed for the amplifier. This amplifier can be used for several power systems applications. In the first part of the thesis, use of this amplifier in DSTATCOM and UPS applications are presented. In the later part of this thesis the solution of network in the loop testing with the help of this amplifier is reported. The experimental setup for PNIL testing is built in the laboratory of Queensland University of Technology and the feasibility of PNIL testing has been evaluated using the experimental studies. In the last section of this thesis a universal load with power regenerative capability is designed. This universal load is used to test the DG system using PNIL concepts. This thesis is composed of published/submitted papers that form the chapters in this dissertation. Each paper has been published or submitted during the period of candidature. Chapter 1 integrates all the papers to provide a coherent view of wide bandwidth switching amplifier and its used in different power systems applications specially for the solution of power systems testing using PNIL.
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Silva, Junior José Cláudio Vieira e. "Verificação de Projetos de Sistemas Embarcados através de Cossimulação Hardware/Software." Universidade Federal da Paraíba, 2015. http://tede.biblioteca.ufpb.br:8080/handle/tede/7856.
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Este trabalho propõe um ambiente para verificação de sistemas embarcados heterogêneos através da cossimulação distribuída. A verificação ocorre de maneira síncrona entre o software do sistema e o sistema embarcado usando a High Level Architecture (HLA) como middeware. A novidade desta abordagem não é apenas fornecer suporte para simulações, mas também permitir a integração sincronizada com todos os dispositivos de hardware físico. Neste trabalho foi utilizado o Ptolemy como uma plataforma de simulação. A integração do HLA com Ptolemy e os modelos de hardware abre um vasto conjunto de aplicações, como o de teste de vários dispositivos ao mesmo tempo, executando os mesmos, ou diferentes aplicativos ou módulos, a execução de multiplos dispositivos embarcados para a melhoria de performance. Além disso a abordagem de utilização do HLA, permite que sejam interligados ao ambiente, qualquer tipo de robô, assim como qualquer outro simulador diferente do Ptolemy. Estudo de casos são apresentado para provar o conceito, mostrando a integração bem sucedida entre o Ptolemy e o HLA e a verificação de sistemas utilizando Hardware-in-the-loop e Robot-in-the-loop.
This work proposes an environment for verification of heterogeneous embedded systems through distributed co-simulation. The verification occurs in real-time co-simulating the system software and hardware platform using the High Level Architecture (HLA) as a middleware. The novelty of this approach is not only providing support for simulations, but also allowing the synchronous integration with any physical hardware devices. In this work we use the Ptolemy framework as a simulation platform. The integration of HLA with Ptolemy and the hardware models open a vast set of applications, like the test of many devices at the same time, running the same, or different applications or modules, the usage of Ptolemy for real-time control of embedded systems and the distributed execution of different embedded devices for performance improvement. Furthermore the use of HLA approach allows them to be connected to the environment, any type of robot, as well as any other Ptolemy simulations. Case studies are presented to prove the concept, showing the successful integration between Ptolemy and the HLA and verification systems using Hardware-in-the-loop and Robot-in-the-loop.
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Chen, Wei-yu, and 陳威宇. "Software-in-the-loop simulation for a D-STATCOM." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/52971559564711956991.
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碩士國立臺灣科技大學
電機工程系
100
$~~~~~~~~~$Simulation plays a vital role in power system as it helps engineers to analyze a large and/or complicated system before the system is actually being implemented. Simulation can greatly save money and help to prevent things such as catastrophic failure from happening. Simulation can be classified into offline simulation and real time simulation. A real time simulator, operated at real time, can be interfaced with an actual hardware to help the engineer to investigate and study a close-to- real-world system.\\ $~~~~~~~~~$A real time simulator can be classified into three types hardware-in-the-loop, rapid control prototyping and software-in-the-loop. A hardware-in-the-loop system consists of a simulated plant interacting with an actual controller. A rapid control prototyping system consists of an actual plant interacting with a simulated controller. Software-in-the-loop system is made of a simulated plant interacting with a simulated controller. This thesis will show how a software-in-the-loop simulation of a D-STATCOM can be implemented in the LABVIEW environment. To account for the problem of external events occurring between the simulation time grids, we employed the method of very small time step. To avoid the problem of inverting a matrix in real time, we proposed to update the dc voltage in every other step. The software-in-the-loop results are compared with those obtained from the offline simulation via PSCAD/EMTDC to show the validity of the proposed method.
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Wang, Ting, and 王婷. "Development of a Unmanned Aerial Vehicle Multi-agent Software-in-the-loop Simulation." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/86146147119034599406.
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碩士逢甲大學
航太與系統工程學系
104
Since the market of unmanned aerial vehicle (UAV) has been gradually expanding, more and more applications have been developed. The concept of multi-agent system, a swarm of UAVs is the next stage of UAV technologies, and the supporting technologies are also need to be considered such as anti-collision design of multiple UAVs. In this study, the X-type quad-rotors were selected due to its high mobility and the capability of vertical take-off and landing (VTOL). Regarding the implementation using software-in-the-loop simulation, we explored the major issues in UAV multi-agent flight formation such as flight control system design, autonomous navigation design, formation control design and anti-collision design. All of them were designed by using PID controller because it can be easily implemented and modified. We used a user interface (UI) program BCB to design the ground control stations, and then it was connected with X-Plane to simulate the dynamics motion of real quad-rotors. To achieve the software-in-the-loop simulation of UAV multi-agent flight formation, we decide to use the virtual leader architecture of formation flight and connect other computers so that two simulated quad-rotors can perform the simulation at the same time. The simulation results show that these two flying vehicles can function formation flying and keep a desired distance with each other.
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Carneiro, Paulo César Moreira. "Desenvolvimento de protótipos virtuais para utilização em simulação Software-In-the-Loop." Master's thesis, 2012. http://hdl.handle.net/1822/22667.
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Dissertação de mestrado integrado em Engenharia MecânicaA implementação de sistemas automatizados na indústria implica treino de pessoal especializado para trabalhar/desenvolver sistemas constituídos por autómatos programáveis (vulgarmente denominados PLCs, do inglês "Programmable Logic Controllers"), sensores e atuadores de vários tipos e funções, desde o simples comando da válvula de um cilindro até complexos controladores de processos. Desenvolveu-se, na Universidade do Minho, numa parceria entre quatro departamentos da Escola de Engenharia, um laboratório virtual e remoto destinado ao ensino desta área do conhecimento, designado plataforma WALC (Web Assisted Laboratory for Control). Esta plataforma, proporciona o ensino da automação através da possibilidade de simulação do controlo de um sistema automatizado real. O objetivo deste trabalho consiste no desenvolvimento de simulações de sistemas automatizados, réplicas de sistemas reais, para que o controlo do sistema possa ser simulado virtualmente, utilizando simulações Software-In-the-Loop. Este simulador, tem como função, complementar a plataforma WALC, dado que utiliza sistemas virtuais, sem a necessidade de projetar e construir bancadas físicas de simulação e teste com elevados custos associados. Paralelamente ao desenvolvimento das simulações virtuais de sistemas automatizados, é apresentado o projeto e configuração adotados para a construção de um kit didático real para alargar a área de ensino da plataforma WALC.
The implementation of automated systems in industry involves training of specialized people to work/develop systems constituted by programmable automatons (PLCs), sensors and actuators of several types and functions, since a simple command of a valve of a cylinder to complex controllers of processes. It was developed, at Minho University, in partnership between four departments of Engineering School, a virtual and remote laboratory devoted for the teaching of this knowledge area, called WALC. This tool provides a teaching of automation through the possibility of simulating the control of a real automated system. The objective of this work consists on the development of simulations of automated systems so as that the control system can be virtually simulated using Software-In-the-Loop simulations. These simulators have as function the complementation of WALC platform using virtual systems without the necessity of designing and constructing physical benches of elevated cost. In the same side of development of virtual simulations of automated systems, has been developed a real educational kit to extend the teaching area of WALC platform.
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Barros, Carlos David da Silva. "Desenvolvimento de plataformas de automação digitais." Master's thesis, 2013. http://hdl.handle.net/1822/28225.
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Dissertação de mestrado integrado em Engenharia MecânicaA implementação de sistemas automatizados na indústria implica o treino prévio de pessoal especializado na implementação de autómatos programáveis (vulgarmente denominados como PLCs, do inglês Programmable Logic Controller), de sensores e atuadores de vários tipos e funções, desde o simples comando de uma válvula até complexos controladores de processos. Este trabalho tem como objetivo criar uma ferramenta de simulação, onde os estudantes possam testar a implementação e comportamento de sistemas automatizados reais. Assim esta dissertação apresenta uma plataforma de simulação de sistemas automatizados, réplicas de sistemas reais, para que o comando do sistema possa ser simulado virtualmente, utilizando simulação Model-In-the-Loop. A plataforma foi desenvolvida no contexto do ensino de Sistemas a Eventos Discretos a estudantes de Engenharia Mecânica e Engenharia Eletrónica. A principal vantagem desta plataforma de simulação é o facto da metodologia de desenvolvimento poder ser estendida a outros exemplos práticos ilustrativos, disponibilizando aos estudantes novas estratégias e metodologias de ensino relacionadas com práticas laboratoriais. No desenvolvimento deste trabalho, procedeu-se à divisão da plataforma de automação em duas partes, parte de comando e parte física. Ambas sincronizadas uma vez que uma não funciona sem a outra. Neste trabalho aborda-se apenas o desenvolvimento da parte de comando sendo a parte de comando abordado noutra trabalho complementar a este. Dado isto, os passos para o desenvolvimento da parte de comando da plataforma, assim como os formalismos e ferramentas utilizadas estão descritas ao longo desta dissertação.
The implementation of automated systems in the industry implies the prior training of specialized personnel in the implementation of PLCs (Programmable Logic Controller), sensors and actuators of various types and functions, from simple command to a valve controlling complex processes. This work aims to create a simulation tool, where students can test the implementation and performance of automated real. This thesis presents a simulation platform for automated systems, replicas of real systems, so that the control system can be simulated virtually simulation using Model- In-the - Loop. The platform was developed in the context of the teaching of Discrete Event Systems to students of Mechanical and Electronics Engineering. The main advantage of this simulation platform is that the development methodology can be extended to other illustrative examples, providing students with new strategies and teaching methodologies related to laboratory practice. In developing this work, we proceeded to the division of the automation platform into two parts, the command and the physical. Both synchronized since it will not operate without one another. In this paper only discusses the development of the control command being addressed in another part of this supplementary work. Given this, the steps for the development of part of the platform control, as well as formalisms and tools used are described throughout this thesis.
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Canadas, Nuno Miguel Evangelista. "Modelação da parte física de sistemas mecatrónicos e estudo da sua influência em simulação MiL (Model-in-the-loop)." Master's thesis, 2013. http://hdl.handle.net/1822/28206.
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Dissertação de mestrado integrado em Engenharia MecatrónicaA implementação de sistemas automatizados na indústria implica o treino de pessoal especializado para trabalhar/desenvolver sistemas constituídos por autómatos programáveis (vulgarmente denominados como PLC’s, do inglês programmable logic controller), sensores e atuadores de vários tipos e funções, desde o simples comando de uma válvula até complexos controladores de processos. A principal vantagem desta plataforma de simulação é a possibilidade de fornecer aos alunos novas estratégias e metodologias de aprendizagem, tendo como base as práticas laboratoriais direcionadas ao que irão encontrar no mercado de trabalho. Através da utilização do seu computador pessoal, os alunos serão capazes de aprender ao seu próprio ritmo, autonomamente, tendo a capacidade de descobrir e incidir na resolução das suas próprias dificuldades. Esta dissertação apresenta todo o processo de construção de plataformas de simulação virtuais de sistemas automatizados, réplicas de sistemas reais, para que o controlo do sistema possa ser simulado virtualmente utilizando a simulação Model-In-the-Loop. Devido às vantagens destes processos, esta plataforma foi desenvolvida no contexto do ensino da área de automação aos estudantes das várias áreas da Engenharia. Dado isto, ao longo desta tese são enunciados todos os passos para o desenvolvimento da plataforma, assim como os formalismos e ferramentas utilizados.
The implementation of automated systems in the industry involves training specialized personnel to work / develop systems consisting of programmable logic controllers (commonly referred to as PLC's), sensors and actuators of various types and functions, from the simple command of a valve to complex processes controllers. The main advantage of this simulation platform is the ability to provide students new learning strategies and methodologies, based on laboratory practices directed at what they will find in their labor market. Through the use of their personal computer, students will be able to learn at their own pace, independently, having the ability to discover and focus on solving their own problems. This thesis presents the entire process of building platforms for virtual simulation of automated systems, replica of real systems, so that the control system can be simulated using the simulation virtually Model-In-the-Loop. Due to the advantages of these processes, this platform has been developed in the context of teaching automation to the students of the most extensive areas of Engineering. Given that, along this thesis are listed all the steps for the development of the platform, as well as formalisms and tools used.