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Driscoll, Scott Crawford. "The Design and Qualification of a Hydraulic Hardware-in-the-Loop Simulator". Thesis, Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/7132.
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The goal of this work was to design and evaluate a hydraulic Hardware-in-the-Loop (HIL) simulation system based around electric and hydraulic motors. The idea behind HIL simulation is to install real hardware within a physically emulated environment, so that genuine performance can be assessed without the expense of final assembly testing. In this case, coupled electric and hydraulic motors were used to create the physical environment emulation by imparting flows and pressures on test hardware. Typically, servo-valves are used for this type of hydraulic emulation, and one of the main purposes of this work was to compare the effectiveness of using motors instead of the somewhat standard servo-valve. Towards this end, a case study involving a Sauer Danfoss proportional valve and emulation of a John Deere backhoe cylinder was undertaken. The design of speed and pressure controllers used in this emulation is presented, and results are compared to data from a real John Deere backhoe and proportional valve. While motors have a substantially lower bandwidth than servo-valves due to their inertia, they have the ability to control pressure at zero and near-zero flows, which is fundamentally impossible for valves. The limitations and unique capabilities of motors are discussed with respect to characteristics of real hydraulic systems.
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Cazarini, Eduardo. "Desenvolvimento de uma plataforma para testes de controladores, em arquitetura de controle hardware in the loop, utilizando um hardware eletrônico externo e um software de simulação de voo". Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-18072016-180439/.
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Essa dissertação tem por objetivo o desenvolvimento de uma plataforma para testes de controladores de voo. Tal plataforma consiste em um hardware executando algoritmos de controle e atuando numa aeronave simulada em software de simulação de voo. O software de simulação escolhido, baseado na experiência prática de pilotos profissionais, foi o Microsoft Flight Simulator (MSFS), para o qual desenvolveu-se o modelo gráfico e dinâmico do quadricóptero AscTec Pelican. A comunicação entre o MSFS e o hardware é feita pela interface USB através do software FVMS v2.0 desenvolvido em ambiente DELPHI® 7.0 exclusivamente para este trabalho. O FVMS é capaz de ler o estado das variáveis de voo no MSFS, enviá-las para o hardware externo executar o controle, receber os sinais de controle de volta e utilizá-los no MSFS. O projeto e execução do hardware externo com controlador dsPIC também foi realizado neste mesmo trabalho. A título de avaliação de desempenho, também foi implementado um controlador robusto do tipo H∞ linear, desenvolvido pela equipe ART (Aerial Robots Team) da Escola de Engenharia de São Carlos. O mesmo controlador também foi aplicado na arquitetura software in the loop, na qual o controle é executado dentro do próprio FVMS, para comparação de desempenho entre os dois sistemas. Ao término do trabalho, as características de desempenho do sistema como um todo ficam bem evidenciadas através dos testes de estabilidade com e sem distúrbios executados em ambas arquiteturas de controle.This dissertation aims to develop a platform for flight controllers tests. It platform consists of an electronic hardware where the control\'s algorithms will be executed and a virtual aircraft is simulated in flight simulation software. The chosen simulation software, based on practical experience of professional pilots, was Microsoft Flight Simulator (MSFS). The graphic and dynamic model of quadrotor AscTec Pelican was developed to perform inside the software. The communication between the MSFS and the hardware is made by USB interface through FVMS v2.0 software developed in DELPHI® 7.0 environment, exclusively for this work. The FVMS can read the status of the flight variables in MSFS, send them to the external hardware, receive control signals back and write them in MSFS. The design and implementation of external hardware with dsPIC controller was also developed ons ame work. For performance evaluation of the system, it was also implemented a robust linear H∞ controller, developed by ART team (Aerial Robots Team) of the School of Engineering of São Carlos. The same controller was also applied using software in the loop architecture, in which the control is performed inside FVMS, to compare performance between the two architectures. In the end of the work, the performance characteristics of the systems were well evidenced by the stability tests carried out with and without disturbances in both control architectures.
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Braun, Robert. "Hardware-in-the-Loop Simulation of Aircraft Actuator". Thesis, Linköping University, Linköping University, Department of Management and Engineering, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-20466.
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Advanced computer simulations will play a more and more important role in future aircraft development and aeronautic research. Hardware-in-the-loop simulations enable examination of single components without the need of a full-scale model of the system. This project investigates the possibility of conducting hardware-in-the-loop simulations using a hydraulic test rig utilizing modern computer equipment. Controllers and models have been built in Simulink and Hopsan. Most hydraulic and mechanical components used in Hopsan have also been translated from Fortran to C and compiled into shared libraries (.dll). This provides an easy way of importing Hopsan models in LabVIEW, which is used to control the test rig. The results have been compared between Hopsan and LabVIEW, and no major differences in the results could be found. Importing Hopsan components to LabVIEW can potentially enable powerful features not available in Hopsan, such as hardware-in-the-loop simulations, multi-core processing and advanced plotting tools. It does however require fast computer systems to achieve real-time speed. The results of this project can provide interesting starting points in the development of the next generation of Hopsan.
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Stern, Christopher. "Hardware-in-the-Loop rammeverk for UAV testing". Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-13236.
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I denne rapporten presenteres et rammeverk for Hardware in the Loop Simulation (HILS) i forbindelse med utvikling av Unmanned Aerial Vehicle (UAV) styresystemer. Oppgaven er utført som masteroppgave ved Teknisk Kybernetikk, NTNU.Rammeverket er utviklet i Windows 7 og baserer seg på dynamisk simulator programmert i MATLAB/Simulink og Flight Gear er brukt for visuell fremstilling av flyet. Resultatet består av tre deler som til sammen kompletterer en fullstendig HIL simulator. Oppgaven avgrenser seg til det datatekniske omkring utviklingen av HIL. Det vil si at den matematiske bakgrunnen for flymodeller og simuleringen ikke er utledet.Kapittel 2 gir en innføring i begreper og maskinvare utviklet for Odin Recce UAV. Resultatet er deretter presentert i tre deler.I kapittel 3 er oppbyggingen av et driverbibliotek for avlesing av joystick gjennomgått i detalj for språkene: C/C++, Java, MATLAB og Simulink. En grafisk bakkestasjon for logging av data og styring av modellen utviklet i MATLAB i kapittel 4.Tilsvarende systemer er beskrevet og analysert som basis for videre utvikling som siste av resultatet tilhørende kapittel 5. Her også testprosedyrer og feilkilder redegjort for.Oppgaven presenterer en generell fremgangsmåte for HIL simulering. Rammeverket er kodet med lavest mulig kobling og høy kohesjon for at løsningen skal kunne gjenbrukes senere.Ved å tilpasse den dynamiske modellen til ønsket fysisk system kan en legge til reguleringssløyfer og kontrollsystem med mulighet for å påtrykke eventuelle feilsituasjoner brukeren får visuell tilbakemelding på flyets oppførsel via Flight Gear og bakkestasjonen gjør det også mulig å logge sanntidsdata.Prosjektet er en del av utviklingen omkring Odin Recce D6 UAV, men denne modellen er ikke brukt spesifikt i utviklingen. Mer informasjon om Odin er på www.odin.aero.
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Bjelevac, Salko, i Peter Karlsson. "Steering System Verification Using Hardware-in-the-Loop". Thesis, Linköpings universitet, Fordonssystem, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-119332.
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In order for leading industrial companies to remain competitive, the process of product developement constantly needs to improve. In order to shorten development time -- that is the time from idea to product -- simulations of products in-house is becoming a popular method. This method saves money and time since expensive prototypes become unnecessary. Today the calibration of steering gears is done in test vehicles by experienced test drivers. This is a time consuming process that is very costly because of expensive test vehicles. This report investigates possibilities and difficulties with transfering the calibrations from field to rig. A steering rig has been integrated with a car simulation program. Comparisons between simulation in the loop (SIL) and hardware in the loop (HIL) have been made and differences between different configurations of steering gears have been evaluated. An automatic process including calibration of parameters, testing and analysis of the test results has been implemented. The work laid the foundation of calibration of steering parameters and showed correlation between calibration parameters and objective metrics.
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Goulkhah, Mohammad (Monty). "Waveform relaxation based hardware-in-the-loop simulation". Cigre Canada, 2014. http://hdl.handle.net/1993/31012.
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This thesis introduces an alternative potentially low cost solution for hardware-in-the-loop (HIL) simulation based on the waveform relaxation (WR) method. The WR tech-nique is extended so that, without the need for a real-time simulator, the behaviour of an actual piece of physical hardware can nevertheless be tested as though it were connected to a large external electrical network. This is achieved by simulating the external network on an off-line electromagnetic transients (EMT) simulation program, and utilizing iterative exchange of waveforms between the simulation and the hardware by means of a spe-cialized Real-Time Player/Recorder (RTPR) interface device. The approach is referred to as waveform relaxation based hardware-in-the-loop (WR-HIL) simulation.
To make the method possible, the thesis introduces several new innovations for stabi-lizing and accelerating the WR-HIL algorithm. It is shown that the classical WR shows poor or no convergence when at least one of the subsystems is an actual device. The noise and analog-digital converters’ quantization errors and other hardware disturbances can affect the waveforms and cause the WR to diverge. Therefore, the application of the WR method in performing HIL simulation is not straightforward and the classical WR need to be modified accordingly.
Three convergence techniques are proposed to improve the WR-HIL simulation con-vergence. Each technique is evaluated by an experimental example. The stability of the WR-HIL simulation is studied and a stabilization technique is proposed to provide suffi-cient conditions for the simulation stability.
The approach is also extended to include the optimization of the parameters of power system controllers located in geographically distant places. The WR-HIL simulation technique is presented with several examples. At the end of the thesis, suggestions for the future work are presented.February 2016
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MacDiarmid, Monte. "Analysis and Design of Hardware-in-the-Loop Simulators". Thesis, University of Oxford, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.504431.
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Harris, Jr Frederick Bernard. "GNSS Hardware-In-The-Loop Formation and Tracking Control". Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/71380.
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Formation and tracking control are critical for of today's vehicle applications in and this will be true for future vehicle technologies as well. Although the general function of these controls is for data collection and military applications, formation and tracking control may be applied to automobiles, drones, submarines, and spacecraft. The primary application here is the investigation of formation keeping and tracking solutions for realistic, real-time, and multi-vehicle simulations. This research explores the creation of a predictive navigation and control algorithm for formation keeping and tracking, raw measurement data collection, and building a real-time GNSS closed HWIL testbed for simulations of different vehicles. The L1 frequency band of the Global Positioning System (GPS) constellation is used to observe and generate raw measurement data that encompasses range, pseudo-range, and Doppler frequency. The closed HWIL simulations are implemented using Spirent's Communication Global Navigation Satellite system (GNSS) 6560 and 8000 hardware simulators along with Ashtech, G-12 and DG-14, and Novetel OEM 628 receivers. The predictive navigation control is similar to other vision-based tracking techniques, but relies mainly on vector projections that are controlled by acceleration, velocity magnitude, and direction constraints to generate realistic motion.
The current state of the testbed is capable of handling one or more vehicle applications. The testbed can model simulations up to 24 hours. The vehicle performance during simulations can be customized for any required precision by setting a variety of vehicle parameters. The testbed is built from basic principles and is easily upgradable for future expansions or upgrades.Master of Science
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Larsson, Viktor, Liselott Ericson i Petter Krus. "Hardware-in-the-loop simulation of hybrid hydromechanical transmissions". Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71075.
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Increased demands on fuel-efficient propulsion motivate the use of complex hybrid hydromechanical transmissions in heavy construction machines. These transmissions offer attractive fuel savings but come with an increased level of complexity and dependency on computer-based control. This trend has increased the use of computer-based simulations as a cost-effective alternative to hardware prototyping when developing and testing control strategies. Hardware-In-the-Loop (HWIL) simulations that combine physical and virtual model representations of a system may be considered an attractive compromise that combine the benefits of these two concepts. This paper explores how HWIL simulations may be used to evaluate powertrain control strategies for hybrid hydromechanical transmissions. Factors such as hardware/software partitioning and causality are discussed and applied to a test rig used for HWIL simulations of an example transmission. The results show the benefit of using HWIL simulations in favour of pure offline simulations and prototyping and stress the importance of accurate control with high bandwidth in the HWIL interface.
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Harris, Frederick Bernard Jr. "GNSS Hardware-In-The-Loop Formation and Tracking Control". Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/71380.
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Formation and tracking control are critical for of today's vehicle applications in and this will be true for future vehicle technologies as well. Although the general function of these controls is for data collection and military applications, formation and tracking control may be applied to automobiles, drones, submarines, and spacecraft. The primary application here is the investigation of formation keeping and tracking solutions for realistic, real-time, and multi-vehicle simulations. This research explores the creation of a predictive navigation and control algorithm for formation keeping and tracking, raw measurement data collection, and building a real-time GNSS closed HWIL testbed for simulations of different vehicles. The L1 frequency band of the Global Positioning System (GPS) constellation is used to observe and generate raw measurement data that encompasses range, pseudo-range, and Doppler frequency. The closed HWIL simulations are implemented using Spirent's Communication Global Navigation Satellite system (GNSS) 6560 and 8000 hardware simulators along with Ashtech, G-12 and DG-14, and Novetel OEM 628 receivers. The predictive navigation control is similar to other vision-based tracking techniques, but relies mainly on vector projections that are controlled by acceleration, velocity magnitude, and direction constraints to generate realistic motion.
The current state of the testbed is capable of handling one or more vehicle applications. The testbed can model simulations up to 24 hours. The vehicle performance during simulations can be customized for any required precision by setting a variety of vehicle parameters. The testbed is built from basic principles and is easily upgradable for future expansions or upgrades.Master of Science
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Root, Eric. "A Re-Configurable Hardware-in-the-Loop Flight Simulator". Ohio University / OhioLINK, 2004. http://www.ohiolink.edu/etd/view.cgi?ohiou1090939388.
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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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Janczak, John. "Implementation of a Hardware-in-the-Loop System Using Scale Model Hardware for Hybrid Electric Vehicle Development". Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/33881.
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Hardware-in-a-loop (HIL) testing and simulation for components and control strategies can reduce both time and cost of development. HIL testing focuses on one component or control system rather than the entire vehicle. The rest of the system is simulated by computer systems which use real time data acquisition systems to read outputs and respond like the systems in the actual vehicle would respond. The hardware for the system is on a scaled-down level to save both time and money during testing.
The system designed to simulate the REVLSE Equinox split parallel hybrid consists of five direct current (DC) permanent magnet motors. These motors are used in the system to test the controller software of the vehicle. Two of the motors act as power plants simulating the spark ignited Ethanol engine and the rear traction motor. These two motors are controlled by DC variable speed controllers. The other motors are used as generators to simulate the load from the belted alternator starter (BAS) and the road load on each axle. The motors on each axle are joined together mechanically using a belt and pulley system. The front and rear axle of the system are not connected to simulate the actual vehicle where the power plants are gear-reduced before they make contact with the road and therefore do not actually spin at the same speeds.
The computer software and hardware used to run the HIL hybrid system is National Instruments LabView and CompactRIO. LabView provides an easy interface through which programs for the RIO can be written. The RIO gives the user the ability to measure the power into and out of different components in the system to measure the efficiency of the system. The ability to measure system efficiencies using different powertrain inputs and loading schemes is what makes the HIL system a valuable tool in control modeling for the Equinox. LabView and the RIO allow the user to optimize the control strategy with the two power plant inputs and the BAS to make sure the high voltage system stays charged and improve the overall efficiency of the vehicle without the actual vehicle. The HIL system allows other work to be done of the vehicle during the control development.
During a constant axle speed test at 730 RPM with constant generator resistance, the front engine efficiency was 33.8%, the BAS efficiency was 53.0%, the rear load generator efficiency was 51.2% and the overall efficiency of the front axle was 24.0%. These results show that the system can simulate the powertrain of a hybrid vehicle and help create and validate a control scheme.Master of Science
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Michalek, David. "Modellierung und Hardware-in-the-Loop-Simulation der Komponenten des Ausblastraktes zur Kraftfahrzeuginnenraumklimatisierung /". Düsseldorf : VDI-Verl, 2009. http://d-nb.info/999474049/04.
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Serdar, Usenmez. "Design Of An Integrated Hardware-in-the-loop Simulation System". Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/2/12612051/index.pdf.
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This thesis aims to propose multiple methods for performing a hardware-in-the-loop simulation, providing the hardware and software tools necessary for design and execution. For this purpose, methods of modeling commonly encountered dynamical system components are explored and techniques suitable for calculating the states of the modeled system are presented. Modules and subsystems that enable the realization of a hardware-in-the-loop simulation application and its interfacing with external controller hardware are explained. The thesis also presents three different simulation scenarios. Solutions suitable for these scenarios are provided along with their implementations. The details and specifications of the developed software packages and hardware platforms are given. The provided results illustrate the advantages and disadvantages of the approaches used in these solutions.
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Grungxu, Lungile Leonard. "Aspect of a hardware-in-the-loop integrated test system". Thesis, Stellenbosch : Stellenbosch University, 2003. http://hdl.handle.net/10019.1/53292.
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Thesis (MScEng)--University of Stellenbosch, 2003.ENGLISH ABSTRACT: A multiprocessor hardware-in-the-Ioop operating system was developed for the Integrated Test System (ITS) and is aimed at implementing the ITS as a space emulation vehicle. The thesis contains a study of satellite orbits, Kepler elements, geomagnetic fields and communication protocol between the processors. The system structure consists of an orbit generator, a core-operating system and is presented with a study of the satellite sensors. In implementing the orbit propagator, there was a need to pay special attention to the Halving algorithm, the Newton Raphson method and the True Solution. These algorithms were used to calculate the true anomaly angle as a function of eccentric anomaly. The communications protocol was tested and all the errors, with their solutions, have been discussed. A concept of a geomagnetic field emulator has also been included in the hardware-in-theloop operating system. The evaluation of those aspects of the system and the conclusion are presented together with recommendations.
AFRIKAANSE OPSOMMING: 'n multiprosesseerder Hardeware in die lus bedryfstelsel is ontwikkel vir 'n Geintegreerde Toets Stelsel (ITS) en poog om die ITS te implementeer as 'n ruimte emulasie stelsel. Die tesis behels die studie van sateliet wentelbane, Kepler wentelbaan elemente, geomagnetiese velde en kommunikasie protokolle tussen die prosesseerders. Die stelsel struktuur betaal uit 'n wentelbaan propageerder, 'n kern bedryfstelsel en 'n studie van satelliet instrumentasie. As 'n deel van die implementering van die wentelbaan propageerder is die halveer algoritme, Newton-Raphson algoritme en die ware oplossing as numeriese oplossings ondersoek. Die kommunikasie protokol is getoets en foute ondersoek en word bespreek. 'n konsep vir 'n Geomagnetiese veld emulasie word die hardeware in die lus stelsel ingesluit. Die stelsel word ge-ewalueer en die gevolgtrekkings en aanbevelings gemaak.
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Mahmud, Akib. "Hardware in the Loop (HIL) Rig Design and Electrical Architecture". Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-324661.
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Different types of machines are tested utilizing so called Hardware In the Loop simulation. To perform HIL-simulation a rig is used consisting of different types of hardware and software. Some of the hardware that are used during a simulation is located inside an EMS box. The box has not been properly updated since 2004, no documentation of changes has been made and often many errors occurs during simulations due to the lack of traceability. During this project a new structure of the EMS box has been designed with modifications to eliminate existing problems, prevent similar problems to occur in the future and improve the usability of the system. A simulation was performed on the camshaft to test if there were any improvements. Most issues were solved but there were one problem that remained. Some noises existed and were rooted in the old box which undeniably remained in the new one.
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Albuquerque, André Ribeiro Lins de. "Aplicações de hardware-in-the-loop no desenvolvimento de uma mão robótica". Universidade de São Paulo, 2007. http://www.teses.usp.br/teses/disponiveis/18/18135/tde-13062008-093112/.
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o trabalho tem como objetivo o estudo e a aplicação da técnica de hardware-in-the-loop como uma ferramenta de suporte no processo de desenvolvimento de uma mão artificial robótica. Os esforços se concentram no desenvolvimento de um ambiente computacional e um ambiente experimental para trabalharem em conjunto e simultaneamente. No ambiente computacional foi desenvolvido o modelo do sistema simulado em tempo real. No ambiente experimental, partes do protótipo da mão robótica foram implementadas. Em ambos os casos, foram desenvolvidos e empregados um controlador seguidor multivariável. Adotando este tipo de abordagem, partes do sistema simulado em tempo real poderão ser substituídas - à medida de suas necessidades - por partes físicas, como por exemplo: sensores, atuadores e novos hardwares de controle, possibilitando uma considerável redução de investimento em hardware e de tempo de projeto.The purpose of this work is the study and the application of the hardware-in-the-loop technique as a support tool in the development process of an artificial robotic hand. The efforts concentrate on the development of a computational and experimental environment to work together and simultaneously. In the computational environment, the simulated system model was developed in real-time. In the experimental environment, prototype parts of the robotic hand were implemented. In both cases, a multivariable controIler was developed and utilized. By adopting this approach, parts of the system simulated in real time can be substituted - according to the needs - by physical parts, such as: sensors, actuators, and new control hardware, allowing a considerable investment reduction in hardware and in time of project.
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Acevedo, Miguel. "FPGA-Based Hardware-In-the-Loop Co-Simulator Platform for SystemModeler". Thesis, Linköpings universitet, Datorteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133413.
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This thesis proposes and implements a flexible platform to perform Hardware-In-the-Loop (HIL) co-simulation using a Field-Programmable-Gate-Array (FPGA). The HIL simulations are performed with SystemModeler working as a software simulator and the FPGA as the co-simulator platform for the digital hardware design. The work presented in this thesis consists of the creation of: A communication library in the host computer, a system in the FPGA that allows implementation of different digital designs with varying architectures, and an interface between the host computer and the FPGA to transmit the data. The efficiency of the proposed system is studied with the implementation of two common digital hardware designs, a PID controller and a filter. The results of the HIL simulations of those two hardware designs are used to verify the platform and measure the timing and area performance of the proposed HIL platform.
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Sherrill, Ryan E. Sinclair Andrew J. "Scene generation and target detection for Hardware-in-the-Loop simulation". Auburn, Ala, 2009. http://hdl.handle.net/10415/1658.
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Yoo, Dae Keun, i not supplied. "Model based wheel slip control via constrained optimal algorithm". RMIT University. Electrical and Computer Engineering, 2006. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20070125.163142.
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In a near future, it is imminent that passenger vehicles will soon be introduced with a new revolutionary brake by wire system which replaces all the mechanical linkages and the conventional hydraulic brake systems with complete 'dry' electrical components. One of the many potential benefits of a brake by wire system is the increased brake dynamic performances due to a more accurate and continuous operation of the EMB actuators which leads to the increased amount of possibilities for control in antilock brake system. The main focus of this thesis is on the application of a model predictive control (MPC) method to devise an antilock brake control system for a brake by wire vehicle. Unlike the traditional ABS control algorithms which are based on a trial and error method, the MPC based ABS algorithm aims to utilizes the behaviour of the model to optimize the wheel slip dynamics subject to system constraints. The final implementation of the wheel slip controller emb races decentralized control architecture to independently control the brake torque at each four wheel. Performance of the wheel slip controller is validated through Software-in-the-Loop and Hardware-in-the-Loop simulation. In order to support the high demands of the computational power and the real time constraints of the Hardware-in-the-Loop simulation, a novel multi processor real-time simulation system is developed using the reflective memory network and the off-the-shelf hardware components.
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Duffield, Michael Luke. "Variable Fidelity Optimization with Hardware-in-the-Loop for Flapping Flight". BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3731.
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Hardware-in-the-loop (HIL) modeling is a powerful way of modeling complicated systems. However, some hardware is expensive to use in terms of time or mechanical wear. In cases like these, optimizing using the hardware can be prohibitively expensive because of the number of calls to the hardware that are needed. Variable fidelity optimization can help overcome these problems. Variable fidelity optimization uses less expensive surrogates to optimize an expensive system while calling it fewer times. The surrogates are usually created from performing a design of experiments on the expensive model and fitting a surface to the results. However, some systems are too expensive to create a surrogate from. One such case is that of a flapping flight model. In this thesis, a technique for variable fidelity optimization of HIL has been created that optimizes a system while calling it as few times as possible. This technique is referred to as an intelligent DOE. This intelligent DOE was tested using simple models of various dimension. It was then used to find a flapping wing trajectory that maximizes lift. Through testing, the intelligent DOE was shown to be able to optimize expensive systems with fewer calls than traditional variable fidelity optimization would have needed. Savings as high as 97% were recorded. It was noted that as the number of design variables increased, the intelligent DOE became more effective by comparison because the number of calls needed by a traditional DOE based variable fidelity optimization increased faster than linearly, where the number of hardware calls for the intelligent increased linearly.
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Olsén, Johan. "Modelling of Auxiliary Devices for a Hardware-in-the-Loop Application". Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2837.
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The engine torque is an important control signal. This signal is disturbed by the devices mounted on the belt. To better be able to estimate the torque signal, this work aims to model the auxiliary devices'influence on the crankshaft torque. Physical models have been developed for the air conditioning compressor, the alternator and the power steering pump. If these models are to be used in control unit function development and testing, they have to be fast enough to run on a hardware-in-the-loop simulator in real time. The models have been simplified to meet these demands.
The compressor model has a good physical basis, but the validity of the control mechanism is uncertain. The alternator model has been tested against a real electronic control unit in a hardware-in-the-loop simulator, and tests show good results. Validation against measurements is however necessary to confirm the results. The power steering pump model also has a good physical basis, but it is argued that a simple model relating the macro input-output power could be more valuable for control unit function development.
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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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IMANI, MAZDA. "Hardware-in-the-Loop simulering av motorservon på ett inbyggt system". Thesis, KTH, Maskinkonstruktion (Inst.), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-146633.
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This report presents a master thesis project performed at Elekta AB during the fall of 2013 and early 2014. Elekta is a medical technology company and their main product in the Stockholm office is a gamma knife used for radiosurgery. The gamma knife contains a cluster of a dozen motor servos and motors used for adjusting the patient and the radiation sources over a CAN bus. A self-developed hardware-in-loop simulator running on a PC with LabVIEW is currently being used for integration level testing of the control system of the gamma knife. The simulator has some problems with it not running in real-time and having other performance issues. This is suspected by Elekta to be due to the massive amount of CAN, serial, and other messages being handled. Elekta, not wanting to invest in expensive dedicated HIL hardware, are looking for an inexpensive way to rebuild the HIL simulator on a generic low cost embedded system.The focus of the project has been to investigate if it’s possible to replace the HIL simulator with a cheaper embedded system. This was at the end of the project done by building a proof of concept device to demonstrate this.Related to this problem area was a case study also carried out at Elekta about how the company works with Validation, Verification and Testing. The aim of the study was to investigate if there are any changes that the company can make to improve their VVT process. This was done by conducting a literature review and performing interviews with developers and testers at the company.A reproduction of the core functionality of the current HIL simulator was implemented on a STM32F103 microcontroller from STMicroelectronics using the ARM Cortex M3 processor with the ARM7 architecture. The microcontroller was able to successfully interfacing with the control system and simulating the cluster of motor servos and its mechanical systems with sufficient real-time performance.The conclusions of the carried out project is that it’s possible for Elekta to implement the core functionality of their current HIL simulator on a Cortex M3 microcontroller. Elekta do however need to investigate further if moving the complete HIL simulator to an embedded system will make further development and usability of the simulator more complex and expensive.Denna rapport är resultatet av ett examensarbete utfört på Elekta AB under hösten 2013 och våren 2014. Elekta är ett medicintekniskt företag vars huvudprodukt på Stockholmskontoret är en gammakniv som används inom radiokirurgi. Gammakniven innehåller ett kluster av ett dussin motorservon styrda över en CAN-buss. Dessa används för att justera patienten och de radioaktiva källorna. För tillfället använder företaget en egenutvecklad ”Hardware-in-the-Loop” simulator, körandes på en PC med LabVIEW, för att utföra integrationstester av gammaknivens styrsystem. Simulatorn har uppvisat tecken prestandaproblem och att simuleringarna inte sker i realtid. Elekta misstänker att detta beror på det stora antalet meddelanden som måste hanteras över CAN, seriella och andra anslutningar. Företaget är motvilligt att investera i dyra färdiga system och vill undersöka möjligheten att lösa dessa problem genom att implementera den nuvarande simulatorn på ett billigt inbyggt system.Projektets fokus har legat på att undersöka om det är möjligt att ersätta den nuvarande HIL simulatorn med ett billigare inbyggt system. Detta gjordes genom att bygga en ”proof-of-concept” prototyp för att demonstrera att detta är möjligt.Relaterat till detta problemområde genomfördes en fallstudie på Elekta om hur företaget arbetar med validering, verifiering och testning. Syftet med studien var att undersöka om det finns några förändringar som företaget kan göra för att förbättra denna process. Detta gjordes genom att utföra en litteraturstudie och genomföra intervjuer med utvecklare och testare på företaget.Ett återskapande av den nuvarande HIL simulatorns huvudfunktionalitet implementerades på en STM32F103 mikrokontroller from STMicroelectronics som använder en ARM Cortex M3 processor med ARM7 arkitektur. Mikrokontrollern kunde framgångsrikt samverka med styrsystemet och simulera klustret av motorservorna och deras mekaniska system med tillräcklig realtidsprestanda.De dragna slutsatserna är att det är möjligt för Elekta att implementera funktionaliteten av deras nuvarande HIL simulator på en Cortex M3 mikrokontroller. Företaget behöver dock undersöka om en flytt av den nuvarande simulatorn kommer att göra ytterligare utveckling och användande av systemet mera komplicerat och kostsamt.
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Kalvaitis, Timothy Elmer. "Distributed shared memory for real time hardware in the loop simulation". Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/35972.
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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1994.Includes bibliographical references (p. 95-96).
by Timothy Elmer Kalvaitis.
M.S.
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Bier, Maximilian [Verfasser]. "Hardware-in-the-Loop-Motorprüfstand zur Entwicklung hybrider Antriebsstränge / Maximilian Bier". Aachen : Shaker, 2018. http://d-nb.info/1188549669/34.
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Ágústsson, Eiður. "Hardware-in-The-Loop Simulation of a High Speed Servo System". Thesis, KTH, Maskinkonstruktion (Inst.), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-183133.
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In production industries there is a constant demand for shorter time to market and lower development costs. Using models and simulations has been shown to decrease development time and increase product quality. One reason for this is that these methods allow development and testing of control systems before actual prototypes are available. The purpose of this thesis is to implement a Hardware-in-the-loop simulation of the MY500 solder jet printer, which is produced by Micronic Mydata AB. The MY500 has high accuracy and speed requirements, resulting in a short control loop, which puts hard constraints on the model calculation time. The simulation is implemented on a dSPACEMicroAutoBox, using the MATLAB toolboxes Simulink and SimMechanics. It communicates with the control system via SPI and implements an existing SimMechanics model and a newly developed Simulink model. The Simulink model developed in this thesis was found to be a sufficiently realistic simplification of the SimMechanics model. Furthermore, the findings show that the Sim-Mechanics model cannot be run in closed loop on the chosen hardware due to its extensive complexity. The thesis also shows that when using the internal clock, even the shortest model step time allowed by the hardware is not sufficient to perform a stable HIL simulation. Lastly, the SPI implementation tested in this thesis introduced computational delays into the control loop of the MY500, which led to the system only being able to calculate one axis. This thesis concludes that even though the current implementation has some limitations, there is reason to continue the work and making a good simulator of the MY500. Two main avenues of investigation are; firstly, implementing an external interrupt for the HIL simulation, which should allow a larger time step and eliminate jitter in the model output. Secondly, moving the SPI communication code out of the control loop and instead implementing it directly on the FPGA, which should minimize the computational delay added by SPI and thereby allows control of more than one axis.I produktionsbranscher finns det en ständig efterfrågan på kortare tid till marknad och lägre utvecklingskostnader. Modeller och simuleringar har visat sig vara ett sätt att minska utvecklingstiden och öka produktkvalitén. En anledning till detta är att dessa metoder tillåter utveckling och testning av styrsystem innan de faktiska fysiska prototyperna är tillgängliga.Syftet med detta examensarbete är att genomföra en realtids simulering av lödpastaskrivaren MY500 som tillverkas av Micronic Mydata AB. MY500 har hög krav på noggrannhet och hastighet, vilket resulterar i en kort samplingstid som i sin tur sätter hårda restriktioner på modellens beräkningstid. Simuleringen genomförs på en dSPACE MicroAutoBox tillsammans med simuleringsverktyg i MATLAB. närmare bestämt Simulink och SimMechanics. Simulatorn kommunicerar med styrsystemet via SPI och implementerar en befintlig SimMechanics modell och en nyutvecklad Simulink modell. Simulink modellen, som utvecklats i detta examensarbete, visade sig vara en tillräckligt realistisk förenkling av SimMechanics modellen. Vidare visar resultaten att SimMechanicsmodellen inte kan köras på den valda hårdvaran p.g.a. dess komplexitet. Studien visar också att, när den interna klockan används, även med det kortaste tidssteget som hårdvaran klarar av, kommer inte HIL simuleringen att vara stabil. Slutligen, SPI-kommunikationen som testas introducerade fördröjningar i MY500 reglerloopen, vilket ledde till att systemet enbart kunde beräkna en axel. Slutsatsen som dras är att även om den nuvarande tillämpningen har nackdelar, finns det ändå skäl för att fortsätta arbetet och att göra en bra simulator. De två mest relevanta utvecklingar är: för det första, implementeringen av en extern interrupt borde tillåta ett större tidssteg och även eliminera jitter i modellens output. Sedan, med att flytta SPIkommunikationskoden ur reglerloopen och istället implementera den direkt på en FPGA borde beräkningsfördröjningar, komna från SPI, minimeras och därmed kontroll av mer än en axel möjliggörs.
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Williams, Steve. "Advanced Hardware-in-the-Loop Testing Assures RF Communication System Success". International Foundation for Telemetering, 2010. http://hdl.handle.net/10150/604299.
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ITC/USA 2010 Conference Proceedings / The Forty-Sixth Annual International Telemetering Conference and Technical Exhibition / October 25-28, 2010 / Town and Country Resort & Convention Center, San Diego, CaliforniaRF Communication (COMMS) systems where receivers and transmitters are in motion must be proven rigorously over an array of natural RF link perturbations such as Carrier Doppler shift, Signal Doppler shift, delay, path loss and noise. These perturbations play significant roles in COMMS systems involving satellites, aircraft, UAVs, missiles, targets and ground stations. In these applications, COMMS system devices must also be tested against increasingly sophisticated intentional and unintentional interference, which must result in negligible impact on quality of service. Field testing and use of traditional test and measurement equipment will need to be substantially augmented with physics-compliant channel emulation equipment that broadens the scope, depth and coverage of such tests, while decreasing R&D and test costs and driving in quality. This paper describes dynamic link emulation driven by advanced antenna and motion modeling, detailed propagation models and link budget methods for realistic, nominal and worst-case hardware-in-the-loop test and verification.
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Gadou-Sanyal, Damien. "Dynamic Virtual Admittance Control Hardware-In-The-Loop Real-Time Simulation". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-278510.
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To enhance the transient stability and the power oscillation damping of the powergrid, supplementary controllers can be applied to the embedded point-to-point High-Voltage Direct Current (HVDC) links. The work presented in this report aimed tovalidate the Dynamic Virtual Admittance Control (DVAC) designed in SuperGridInstitute, in Software- and Hardware-In-The-Loop (SIL and HIL) simulations.The DVA control was first studied analytically and implemented in an offlinesimulation, on a basic test-system. A two-area test-system was then modelled as thebase for validation of the stabilising control. The fault applied to test the controller’sefficiency was a three-phase short-circuit on one of the AC transmission lines linkingthe two areas. The DVAC was validated on the test-system, first by SIL, and thenby HIL real-time simulation. For the purpose of turning the simulation into an HILsimulation, the DVAC was implemented in code C in a Raspberry Pi computer, andthe IEC 61850 communication protocol was studied in detail to be configured for theHIL simulation’s set-up.The SIL and HIL simulations of the DVAC on a three-phase short-circuit provedthe control’s ability to damp power oscillations in around 5 seconds, twice as fast asif no control is implemented.För att förbättra elnätets transientstabilitet och dämpning kan kompletterandestyrenheter användas på inbäddade högspänningslikströmslänkar (HVDC). Arbetetsom presenteras i denna rapport syftade till att validera Dynamic Virtual Admittance(DVA) reglering, utvecklat i SuperGrid Institute, i simuleringar med mjukochhårdvara-i-loop (SIL & HIL).DVA studerades först analytiskt och implementerades i en offlinesimulering, påett grundläggande provsystem. Ett testsystem i två områden modellerades sedansom bas för validering av regleringens stabilisering. Felet som användes för attprova styrenhetens effektivitet var en trefas kortslutning på en av de växelströmsledningarsom förbinder de två områdena. DVAC validerades på provsystemet,först av SIL och sedan av HIL realtidssimulering. För att omvandla simuleringen tillen HIL-simulering implementerades DVAC i kod C i en Raspberry Pi-dator, och IEC61850-kommunikationsprotokollet studerades i detalj för att konfigureras för HILsimuleringensuppsättning.SIL och HIL simulering av DVAC validerades för en trefasig kortslutning ochbekräftade att regleringen kunde dämpa ut effektoscillationerna inom 5 sekunder,dubbelt så snabbt jämfört med om ingen reglering var implementerad.
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Ferreira, Jorge Augusto Fernandes. "Modelação de sistemas hidráulicos para simulação com hardware-in-the-loop". Doctoral thesis, Universidade de Aveiro, 2003. http://hdl.handle.net/10773/10859.
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Doutoramento em Engenharia MecânicaUm ambiente simulado é a via mais rápida, e de menores custos, para avaliar o desempenho de diferentes estratégias para controlo de sistemas hidráulicos. Neste campo emerge uma nova técnica, denominada simulação com hardware-in-the-loop (HILS), para teste de controladores reais em ambientes virtuais simulados em tempo real. A presente dissertação propõe uma metodologia para a organização de bibliotecas de modelos, um conjunto de modelos híbridos semi-empíricos para componentes de sistemas hidráulicos e uma plataforma para a realização de experiências de simulação com hardware-in-the-loop. A metodologia proposta baseia-se na associação de uma nova linguagem de modelação orientada por objectos, chamada Modelica, para a descrição da estrutura dos modelos, com o formalismo gráfico dos Statecharts para a descrição do seu comportamento híbrido. Tendo em vista a concretização da metodologia, foi desenvolvida uma biblioteca de modelos para a implementação do formalismo dos Statecharts em Modelica. Entre os modelos para componentes hidráulicos propostos está um conjunto de modelos semi-empíricos para a modelação de válvulas proporcionais de elevado desempenho. Os modelos desenvolvidos usam dados do fabricante ou dados experimentais para ajuste dos parâmetros, de forma a reproduzir as características estáticas (ganho de pressão, caudal de fugas e ganho de caudal) e dinâmicas (resposta em frequência) da válvula. Foi construída uma plataforma para teste do desempenho dos modelos híbridos desenvolvidos em simulações com hardware-in-the-loop. A plataforma é composta por um manipulador com actuação hidráulica equipado com um conjunto de transdutores, por hardware de tempo real e por um conjunto de ferramentas de software para aquisição de dados e controlo. De um conjunto de experiências HILS, realizadas com diferentes núcleos de tempo real, foram obtidos resultados muito promissores para os modelos semi-empíricos propostos.
A simulated environment is the less expensive and fastest way of evaluating the relative merits of different control schemes for a given hydraulic system. A new technique, called hardware-in-the-loop simulation (HILS), is emerging to test hardware controllers in virtual environments simulated in real time. This thesis proposes a methodology to organize model libraries, a set of semiempirical hybrid models for hydraulic components and a platform for hardwarein- the-loop simulation experiments. The methodology holds in the association of a new object oriented modelling language, called Modelica, to describe model structure, with the Statecharts graphical formalism to describe its hybrid behaviour. In order to implement the proposed methodology, a new Statecharts library in Modelica was developed. Among the proposed hydraulic component models there is a set of new semiempirical models for high performance proportional valves. The developed models use either data sheet or experimental values to fit the model parameters in order to reproduce both static (pressure gain, leakage flow rate and flow gain) and dynamic (frequency response) valve characteristics. An experimental platform was setup to test the developed hybrid models performance in hardware-in-the-loop simulation experiments. The platform is composed by a hydraulic actuated manipulator with a set of sensors, by real time hardware and by a package of software tools for data acquisition and control. Very satisfactory results, from a set of HILS experiments performed in different real time kernels were obtained for the semi-empirical models proposed.
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Barlow, Jacob L. "Hardware-in-the-Loop control of a cascaded multi-level converter". Thesis, Monterey, California. Naval Postgraduate School, 2004. http://hdl.handle.net/10945/1193.
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Approved for public release; distribution is unlimitedNext-generation U.S. Navy destroyers, known as DD(X), will use electric drive motors to meet their propulsion needs instead of the traditional mechanical drives. The use of electric drive motors in naval vessels has spurred the development of high power converters. This thesis examines the feasibility of using an advanced control algorithm known as Sine-triangle Pulse Width Modulation (SPWM) in combination with a Cascaded Multi-Level Converter (CMLC) in order to meet the U.S. Navy's strict requirements. The SPWM control algorithm was designed in Simulink and experimentally tested on a CMLC previously constructed at the Naval Postgraduate School. The controller and converter successfully powered a quarter horsepower three-phase induction motor.
Ensign, United States Navy
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Dall’Acqua, Francesco. "Implementazione di un sistema Hardware in the loop su piattaforma VeriStand". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2012. http://amslaurea.unibo.it/3775/.
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Stepp, Ronald K. "Electronic combat hardware-in-the-loop testing in an open air environment". Thesis, Monterey, California. Naval Postgraduate School, 1994. http://hdl.handle.net/10945/28154.
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Approved for public release; distribution is unlimitedThis thesis evaluates the usefulness of open air hardware-in-the-loop testing. This evaluation is based upon the comparison of two indoor hardware-in- the-loop facilities to an outdoor hardware-in-the-loop facility. In addition to the comparison of the facilities, this thesis presents feedback from three sources who have hardware-in-the-loop test experience at both indoor and outdoor facilities. Based on the research conducted, the conclusion of this thesis is that the established electronic combat test process should be formally modified to include open air hardware-in-the-loop testing. Electronic combat hardware-in- the-loop testing
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Bergkvist, Johannes. "Testing degradation in a complex vehicle electrical system using Hardware-In-the-Loop". Thesis, Linköping University, Vehicular Systems, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-16549.
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Functionality in the automotive industry is becoming more complex, withcomplex communication networks between control systems. Information isshared among many control systems and extensive testing ensures high quality.
Degradations testing, that has the objective to test functionality with some faultpresent, is performed on single control systems, but is not frequently performed on the entire electrical system. There is a wish for testing degradation automatically on the complete electrical system in a so called Hardware-In-the-Loop laboratory.
A technique is needed to perform these tests on a regular basis.Problems with testing degradation in complex communication systems will bedescribed. Methods and solutions to tackle these problems are suggested, thatfinally end up with two independent test strategies. One strategy is suited to test degradation on new functionality. The other strategy is to investigate effects in the entire electrical system. Both strategies have been implemented in a Hardware-In-the-Loop laboratory and evaluated.
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Kruckenberg, John. "Fault Diagnosis and Hardware in the Loop Simulation for the EcoCAR Project". The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1306180272.
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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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Magnusson, Anton. "Hardware-In-the-Loop simulation of a small scale prototype of a Wave Energy Converter". Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-20698.
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Renewable energy sources are a hot topic, both when it comes to climate change and the constant increase in demand of electricity due to population growth and a more electrified society. One such energy source is wave energy - an energy source with great potential but still relatively new with the need for further development. Blekinge Institute of Technology (BTH) together with Ocean Harvesting Technologies (OHT) have made a collaboration to build a scaled Hardware-In-the-Loop (HIL) system of a power take-off (PTO) based on OHTs wave energy converter, InfinityWEC. The purpose is to teach the students at BTH about hydrodynamic and HIL simulations. A manual will also be written to help students perform the lab activities. A model of the HIL system will first be implemented in Matlab/Simulink, both with and without the WEC-Sim hydrodynamic simulation toolbox and simulations will be run to predict the system's behaviour. To parametrize the hydrodynamic model, the open-source Boundary Element Method (BEM) code, NEMOH, is used. The HIL system consists of electric motors, connected mechanically to each other with a coupling. One of the motors is the actuator, which applies torque to the second motor according to the simulated hydrodynamic loads on the buoy. The second motor on the other hand applies a torque according to the load connected to it or torque-controlled according to a selected control strategy. In this thesis two different types of loading is used: 1) resistive load without control of the generator drive, 2) resistive and capacitive load with reactive control of the generator drive. The load resistance can be changed within a limited range as well as the sea state. Data that can be collected are the position and angular velocity of the motors, the currents to and from the two motors and the voltage over the load capacitance. The project concluded that the compensation needed for the motors to get the true hydrodynamic force has little effect when using reactive control and that a protective capacitor is be needed between the actuator motor and the power supply to protect it from reverse current. Finally, this work demonstrated the effectiveness of HIL systems to execute simulations to test and validate PTO systems in wave energy converters. The advantages are that one can create representative wave loading without the presence of water and with ease test different sea states.Förnybara energikällor är ett hett ämne, både när det gäller klimatförändringar och den ständiga ökningen av efterfrågan av el på grund av befolkningsökning och ett mer elektrifierat samhälle. En sådan energikälla är vågenergi - en energikälla med stor potential men fortfarande relativt ny med behov av vidareutveckling. Blekinge Tekniska Högskola (BTH) vill tillsammans med Ocean Harvesting Technologies (OHT) konstruera ett skalat Hardware-In-The-Loop (HIL) system av power take-off (PTO) baserat på OHT:s vågenergiomvandlare, InfinityWEC. Syftet är att lära eleverna på BTH om hydrodynamik och HIL-simuleringar. En manual kommer också att skrivas för att hjälpa eleverna att utföra labbaktiviteterna. En modell av HIL-systemet kommer först att konstrueras i Matlab/Simulink, både med och utan WEC-Sim hydrodynamisk simuleringsverktygslåda och simuleringar kommer att köras för att förutsäga systemens beteende. För att bestämma de nödvändiga parametrarna för hydrodynamiska modellen används Boundary Element Method koden NEMOH. HIL-systemet består av elmotorer, som är mekaniskt anslutna till varandra med en koppling. En av motorerna är ställdonet, som tillämpar vridmoment på den andra motorn enligt de simulerade hydrodynamiska belastningarna på bojen. Den andra motorn tillämpar ett vridmoment enligt belastningen som är kopplad till den eller är moment reglerad enligt en vald kontrollstrategi. I denna avhandling används två olika typ av belastning: 1) resistiv belastning utan kontroll av generatorndrivdonet, 2) resistiv och kapacitive belastning med reaktiv kontroll av generatorndrivdonet. Belastningsmotståndet kan ändras inom ett visst intervall och lika så havstillståndet. Data som kan samlas in är motorernas position och vinkelhastighet, strömmen till och från de två motorerna och spänningen över last kapasitatorn. I projektet drogs slutsatsen att den kompensation som behövs för motorerna för att få den riktiga hydrodynamiska kraften har liten påverkan reaktiv kontroll används och att det behövs en skyddande kondensator mellan ställdonsmotorn och strömförsörjningen för att skydda den mot bakström. Slutligen visade detta arbete hur effektiva HIL-system är för att utföra simuleringar för att testa och validera PTO-system i vågenergiomvandlare. Fördelarna är att man kan skapa representativ vågbelastning utan närvaro av vatten och med lätthet testa olika havstillstånd.
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Iustini, Italo. "Modellazione di componenti di un motore a combustione interna altoprestazionale per simulazioni Hardware in the Loop". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.
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La presente tesi riguarda la modellazione orientata al controllo di componenti di un motore a combustione interna per applicazioni real-time Hardware in the Loop come supporto allo sviluppo della centralina elettronica di controllo motore (ECU).
I modelli realizzati sono relativi al lato aspirazione, all'erogazione della coppia motrice ed al sistema Variable Valve Timing (VVT) che consente la variazione delle fase di alzata valvole rispetto a quella che è la calibrazione di base.
Dal momento che la simulazione è real-time e che i componenti reali analizzati presentano dinamiche molto veloci e masse in gioco molto piccole, è stato necessario semplificare i modelli di partenza per evitare il manifestarsi di instabilità numerica e la non convergenza delle relazioni matematiche a causa dei passi di integrazione eccessivamente grandi. Al tempo stesso, però, si è cercato di mantenere un comportamento del sistema fisico modellato il più aderente possibile a quello del componente reale.
Dopo aver implementato le relazioni in ambiente Simulink, si è passato a ricavare i parametri a "scatola grigia" sfruttando i punti dei piani quotati (file i cui vengono riportate le principali grandezze di un motore al variare di carico e giri) facendo acquisizioni in vettura e richiedendo dati al costruttore quando necessario.
Infine, per verificare la validità dei modelli sviluppati, sono state fatte delle simulazioni offline per confrontati i risultati ottenuti dalle relazioni matematiche e logiche con quelli sperimentali.
Per tutto il lavoro sviluppato e per i dati forniti si ringrazia l'azienda Ferrari S.p.A. nella quale è stato svolto il percorso di tesi.
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Vårdenius, Lindqvist Anders. "Testbänk för turbinregulator". Thesis, Uppsala universitet, Elektricitetslära, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-311119.
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The function of a turbine governor is to maintain the grid frequency close to the nominal value, which in the Nordic grid is 50 Hz. This thesis uses a standard turbine governor from Vattenfall AB, which is implemented with a PLC. The turbine governor gives a control signal which controls the guide vane opening and thus the water flow through the turbine. A test bench for the turbine governor was created where the software LabView was used together with special hardware. The software simulates a Francis hydro power turbine, which gives a feedback signal to the turbine governor. Data for the hydro power turbine, used in the simulation, has been taken from an actual power plant. The user of the test bench has the possibility to choose between actions and to change parameters. For example to give start or stop order, or change setpoint. In this thesis has, for example, a change of guide vane opening setpoint, a grid disturbance, and stops of the turbine, been tested. Validation shows that the result agrees reasonably well with the reality. The result leads to the conclusion that it is possible to create a test bench for the turbine governor with the aid of LabView.
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Ortiz, Jose. "Development of a Low Cost Autopilot System for Unmanned Aerial Vehicles". VCU Scholars Compass, 2010. http://scholarscompass.vcu.edu/etd/2252.
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The purpose of this thesis was to develop a low cost autonomous flight control system for small unmanned aerial vehicles with the aim to support collaborative systems. A low cost hardware solution was achieved by careful selection of sensors, integration of hardware subsystems, and the use of new microcontroller technologies. Flight control algorithms to guide a vehicle though waypoint based flight paths and loiter about a point were implemented using direction fields. A hardware in the loop simulator was developed to ensure proper operation of all hardware and software components prior to flight testing. The resulting flight control system achieved stable and accurate flight while reducing the total system cost to less than $250.
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Merz, Benedikt. "Echtzeitfähige Modellierung des dieselmotorischen Verbrennungsprozesses /". Düsseldorf : VDI-Verl, 2008. http://d-nb.info/990320642/04.
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Ramirez, Steven Abraham. "Supervisory Control Validation of a Fuel Cell Hybrid Bus Using Software-in-the-Loop and Hardware-in-the-Loop Techniques". The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1386067721.
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Lei, Huang, Kou Yanhong i Zhang Qishan. "STUDY ON HARDWARE REALIZATION OF GPS SIGNAL FAST ACQUISITION". International Foundation for Telemetering, 2005. http://hdl.handle.net/10150/605044.
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ITC/USA 2005 Conference Proceedings / The Forty-First Annual International Telemetering Conference and Technical Exhibition / October 24-27, 2005 / Riviera Hotel & Convention Center, Las Vegas, NevadaIn GPS receiver the acquisition process generates two important parameters: the initial carrier frequency and the initial phase of the C/A code. In this paper two different methods for acquisition are mainly discussed: serial search in the time domain and FFT search in the frequency domain. Frequency domain acquisition involves using the Fast Fourier Transform (FFT) to convert the GPS signals into the frequency domain. One fast and easy-to-implement algorithm for averaging correlation is implemented and explained in detail. The FFT search method is both simulated in Matlab and evaluated in Altera Stratix DSP development board.
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Chiacchiararelli, Leonardo. "Hardware-In-The Loop setup and test of an air spring control system". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/23779/.
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In this work, a Hardware-in-the-loop test bench is designed. The bench is used to test the behaviour of an electronic control unit used in Maserati to control the dynamics of an air spring system.
First the mathematical model of the plant has been defined, then the simulation enviroment and the test environment have been set up.
The performed tests succesfully highlighted some bugs in the device under test.
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Israelsson, Erik. "Modellering och simulering av hydraulik för användning i hardware-in-the-loop". Thesis, Linköpings universitet, Fluida och mekatroniska system, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78958.
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Modeling and simulation is growing ever more important in the development of new products. This thesis describes the use of Hopsan for hydraulic modeling and its use in conjunction with Simulink with the intent of using the model in a hardware-in-the-loop setup. A sensor layer has been created in Simulink to emulate all the internal sensors in a modern forklift. The details of using legacy C-code instead of a hardware MCU for a fully simulated environment, software-in-the-loop has been outlined. There are two major routes one can follow implementing software-in-the-loop, exporting the C-functions to CAPL via a export layer or creating an s-function in Simulink. Of the two the export layer method is the most promising since it is easier handling different execution times in CAPL than in Simulink.
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Basic, Goran. "Hardware-in-the-loop simulation of mechanical loads for mechatronics system design". Thesis, University of Ottawa (Canada), 2003. http://hdl.handle.net/10393/26323.
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Current research efforts in Hardware-In-The-Loop (HIL) simulations are directed toward testing Electronic Control Units, simulated digitally, in a physical experimental setup. This thesis presents different approach of using HIL simulations. Active and passive mechanical loads can be simulated physically on direct drive motors, under computer control. The work in thesis is based on effort-flow concept, which allows components of the experimental setup to be replaced as needed by physical or digital model. The only requirement that has to be satisfied is that elements of the setup retain their inputs and outputs, in the form of effort and flow pairs.
Based on this theory, the new experimental setup was built, a generic HIL setup containing two DC motors, which are connected by shaft. One of the motors is used to actuate the system, while another motor represents the physical simulator. Based on the sets of derived formulas, physical simulator is able to simulate active and passive loads.
Three different experimental levels are presented in the thesis. The open loop, current control and torque control experiments.
The experimental results prove the concept in whole and show that theory can be applied in real world applications. The focus in this research is on simulation of nonlinear loads, whose models are presented by sets of nonlinear differential equations. Digital simulations require solutions of those equations and it is demanding job. The method of physical simulations presented in this thesis shows simpler way of simulating complex loads.
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Spitzer, Bernhard [Verfasser]. "Modellbasierter Hardware-in-the-Loop Test von eingebetteten elektronischen Systemen / Bernhard Spitzer". Karlsruhe : KIT-Bibliothek, 2001. http://d-nb.info/1013929306/34.
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Overlin, Matthew R. "A modular real-time hardware-in-the-loop simulation environment for microgrids". Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/119595.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2017.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 149-152).
In this work, a real-time load flow solver that solves for the complex bus voltages in a 4-bus electrical network (with 1 bus as the swing/reference bus) was designed and implemented. Simple Distributed Generator (DG) models were written in C++, with a 3-phase inverter always as the last sub-system of each DG model. The inverter was implemented as a real-/reactive-power controller. Two nodes in the network were made to have adjustable real and reactive power. Real and reactive powers in the network, line impedances, and node connectivity were used to solve for bus voltages in a Gauss-Seidel Load Flow Solver (implemented in an intel MAX® 10 FPGA). The implementation was carried out assuming balanced operation at all of the nodes and a balanced network.
by Matthew R. Overlin.
M. Eng.
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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.