Co-simulation System Research Articles

A new coordinated control strategy for tracked vehicle ride comfort

To improve tracked vehicle ride comfort and minimize weapon's vibration, a coordinated control strategy is developed for tracked vehicles' semi-active suspension systems. A model with eight degrees-of-freedom for a tracked vehicle equipped with magnetorheological dampers is established, and is followed by the formulation of a sliding mode controller. The proposed control algorithm is a localized-based controller that can change its target location in the tracked vehicle to where it is needed most. A co-simulation system model including a six-wheel tracked vehicle multi-body dynamics model, coordinated control strategy, and magnetorheological damper force allocator is developed to analyze the ride performance under bump and random road excitations. The simulation results demonstrate that the proposed strategy is very effective in improving the vehicle's ride performance and is much better than the traditional skyhook controllers. The innovation of this paper can be concluded as the coordinated control strategy can simultaneously improve vertical acceleration and pitch acceleration for the hull, which is of great importance for combat situations.

FPGA-Based EMD Assist Block for Motion Detection in Critical Environments

This study aims to carry out the implementation in FPGA (Field Programmable Gate Array) of a processing system capable of detecting and tracking moving vehicles without losing the system's reliability and efficiency of real-time application. Hence, for simple technique of tracking reach good results is proposed for removing shadows, an auxiliary processing based on insect vision system EMD (Elementary Motion Detector). The principle of this processing is based on cross-correlation and has been implemented in some work to get the direction of moving objects, however, this work is modified and implemented to auxiliary in removing shadows of objects detected using color, spatial and temporal information. The proposed auxiliary processing proves to be efficient in a video stream where the two most critical vehicles are selected with respect the cast shadow. The results of the implementation proposal are presented in terms of resource consumption and maximum operating frequency in a Spartan-6 FPGA-based development board. The experimental results are obtained in co-simulation system and show the effectiveness of the proposed system.

Multifunctional cyber‐physical system testbed based on a source‐grid combined scheduling control simulation system

To establish a real closed-loop control centre testing environment for a cyber–physical power system, a cyber–physical testbed was established by integrating industry supervisory control and data acquisition with a source-grid co-simulation system in the laboratory at the North China Electric Power University. The testbed employs a multi-time scale interface and virtual remote terminal units to overcome the shortcomings of the real-time digital simulator. Physical simulation was performed with a source-grid co-simulation system based on a real-time digital simulator. Control system simulation was implemented using a commercial energy management system. The testbed was also integrated with a wide-area-network emulator to provide wide-area-network emulation and advanced attack simulation. An overview of the system and the key technologies used in the cyber–physical system testbed is provided in this study. In addition, two specific cyberattacks are simulated to demonstrate the capacity of the cyber–physical system testbed.

Field–Circuit Cosimulation of 500-kV Transformers in AC/DC Hybrid Power Grid

To achieve the communication between field and circuit network solvers in an actual large-scale AC/DC hybrid power grid, a cosimulation system of electromagnetic transient calculation, on-site measured data, and finite-element simulation has been developed. A platform based on MATLAB is adopted for linking measured data, electromagnetic transient simulation in real-time I/O, and combining finite-element software offline. A dc bias on 500-kV transformer is analyzed with the cosimulation approach. Hypersim and Flux are used as electromagnetic transient and finite-element simulation software, respectively. A specific on-site measuring system is developed to obtain the dc bias current. With the platform, dc bias of 500-kV transformers is finally solved. The validity of the model is verified by no-load field testing in 100% and 110% rated voltage.

Simple generation of threshold for images binarization on FPGA

<p class="Abstractandkeywordscontent">This paper proposes the FPGA implementation of a threshold algorithm used in the process of image binarization by simple mathematical calculations. The implementation need only one image iteration and its processing time depends on the size of the image. The threshold values of different images obtained through the FPGA implementation are compared with those obtained by Otsu’s method, showing the differences and the visual results of binarization using both methods. The hardware implementation of the algorithm is performed by model-based design supported by the MATLAB<sup>®</sup>/Simulink<sup>®</sup> and Xilinx System Generator<sup>®</sup> tools. The results of the implementation proposal are presented in terms of resource consumption and maximum operating frequency in a Spartan-6 FPGA-based development board. The experimental results are obtained in co-simulation system and show the effectiveness of the proposed method.</p>

Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control

To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.

Co-simulation System for A Humanoid Robot Based on Pro/E ADAMS and MATLAB

Co-simulation System for A Humanoid Robot Based on Pro/E ADAMS and MATLAB

Research and Application of Multidisciplinary Co-simulation System Based on VP

Research and Application of Multidisciplinary Co-simulation System Based on VP

Characteristics Analysis and Simulation of Permanent Magnet Actuator With a New Control Method for Air Circuit Breaker

In this paper, a new method is proposed to control the permanent magnet actuator (PMA) of air circuit breaker (ACB). The characteristics such as magnetic field, making and breaking processes are analyzed using finite-element method. The inductance and permanent magnetic parameters are computed in advance for subsequent incorporation into a cosimulation system. The simulation model is setup in Matlab and data are shared with the automatic dynamic analysis of mechanical systems (ADAMS) software. The making and breaking processes are integrated into a simulation system to allow simple observation of the simulation procedure. Experiments are carried out on an ACB prototype to verify the proposed control method.

Low-level rf control of Spallation Neutron Source: System and characterization

The low-level rf control system currently commissioned throughout the Spallation Neutron Source (SNS) LINAC evolved from three design iterations over 1 yr intensive research and development. Its digital hardware implementation is efficient, and has succeeded in achieving a minimum latency of less than 150 ns which is the key for accomplishing an all-digital feedback control for the full bandwidth. The control bandwidth is analyzed in frequency domain and characterized by testing its transient response. The hardware implementation also includes the provision of a time-shared input channel for a superior phase differential measurement between the cavity field and the reference. A companion cosimulation system for the digital hardware was developed to ensure a reliable long-term supportability. A large effort has also been made in the operation software development for the practical issues such as the process automations, cavity filling, beam loading compensation, and the cavity mechanical resonance suppression.

Accelerated Co-Simulation of Hardware-Software System Based on Configurable Hardware Accelertor and Selective Simulation

The paper presents new approach to hardware-software co-simulation. It offers extretnely high speed of simulation. Presented solution combines hardware emulation technique with selective hardware simulation. This two methods allow to build precisely tailored hardware accelerated co-simulation system. Systenl allows for full debug of HDL described hardware and software that works together with real part of a design. Software can interact with virtual (HDL described) part of a design. We have introduced an acceleration technique based on selective simulation of virtual hardware. Developed technique maintains simulation time dependencies between virtual hardware and software that allows to keep the same simulation time in hardware and software part of design while reducing computation power required for HDL simulation.

Retargetable compiled simulation of embedded processors using a machine description language

Fast processor simulators are needed for the software development of embedded processors, for HW/SW cosimulation systems, and for profiling and design of application-specific processors. Such fast simulators can be generated based on the machine description language LISA. Using this language to model processor architectures enables the generation of compiled simulators on various abstraction levels, assemblers, and compiler back ends. The article discusses the requirements of software development tools on processor models and presents the approach based on the LISA language. Furthermore, the implementation of a retargetable environment consisting of compiled simulator, debugger, and assembler is presented. Measurements for a verified, cycle-based LISA model of the TI TMS320C62× DSP show that that this approach achieves between 37× and 170× higher simulation speed compared to a commercial simulator using a standard technique and the same accuracy level.

Core design and system-on-a-chip integration

IBM's experience with core-based designs provides insight into methodology, SOC design styles, core design trade-offs, and ASIC design processes. The authors describe a prototype cosimulation system developed for the PowerPC core and present SOC designs to illustrate their methods.