Hardware-in-the-loop Simulation System Research Articles

Hardware-in-the-Loop Simulation of Distributed Intelligent Energy Management System for Microgrids

Microgrids are autonomous low-voltage power distribution systems that contain multiple distributed energy resources (DERs) and smart loads that can provide power system operation flexibility. To effectively control and coordinate multiple DERs and loads of microgrids, this paper proposes a distributed intelligent management system that employs a multi-agent-based control system so that delicate decision-making functions can be distributed to local intelligent agents. This paper presents the development of a hardware-in-the-loop simulation (HILS) system for distributed intelligent management system for microgrids and its promising application to an emergency demand response program. In the developed HILS system, intelligent agents are developed using microcontrollers and ZigBee wireless communication technology. Power system dynamic models are implemented in real-time simulation environments using the Opal-RT system. This paper presents key features of the data communication and management schemes based on multi-agent concepts. The performance of the developed system is tested for emergency demand response program applications.

Development of EHPS Motor Speed Map Using HILS System

This paper proposes a systematic method to develop electrohydraulic power steering (EHPS) motor speed maps. To overcome the weaknesses of the existing method, which depends on the test driver's steering feel at a proving ground, this paper utilized theoretical approaches and experimental developments to develop an optimal EHPS motor speed map. Steering torque of the target vehicle according to steering angle and vehicle speed was estimated through theoretical calculations. For the theoretical estimation of steering torque, tire properties of the target vehicle were measured, vehicle dynamics were employed to estimate slip angles, and the steering system was modeled. These estimation results were verified through field tests and then applied to the resistant motor of the EHPS Hardware-In-the-Loop Simulation (HILS) system, which represents the moments generated between the ground and tires. As the experimental development of EHPS motor speed map, an EHPS HILS system was set up, and the concept of desirable steering torque was established to quantify steering feel and catch-up effect. By means of the desirable steering torque, steering feel that was subject to the test driver's hands had criteria at various driving conditions. As the final procedure of this paper, the developed motor speed map was numerically compared with the existing map developed by the existing method, and then, it was verified through field tests with the target vehicle. The developed motor speed map provided sufficient steering assist to the driver and prevented the catch-up effect under all driving conditions. In addition, the steering torque from both maps had the same profiles at all driving conditions, even if the developed map demands lower motor speeds up to 1950 r/min than the existing map at almost all driving conditions.

로봇 조향 기반 EPS HILS 시스템의 개발 및 검증

As the conventional hydraulic power steering system in the passenger vehicles is being rapidly replaced by EPS (Electric Power Steering) system, performance evaluation of the EPS system has become an important issue in the automotive industries. But the evaluation process takes significant expertise since steering conditions in the test protocols must be implemented with high accuracy. EPS HILS (Hardware-In the-Loop Simulation) system is developed together with robot steering system in this study. Main components of EPS HILS system include: C-EPS hardware, CarSim vehicle model, and road reaction force generation system powered by servo motor. The robot steering system, operated by another servo motor, was combined with EPS HILS system to substitute for steering efforts of human driver. The road reaction force generation system and the robot steering system were carefully validated by using the data obtained from vehicle tests. An on-center handling test was conducted by using EPS HILS system combined with the robot steering system. In the result of this study, robot-steered EPS HILS system developed with its high reliability and no need of skilled driver’s, can be widely adopted to evaluate any performance of EPS system.

SAE J1939 프로토콜기반 Gateway 제어모듈 개발에 관한 연구

This study presents the development of Gateway Control Module using SAE J1939 protocol for the commercial vehicles. Presently, the load rate of CAN bus is increased by the single network composition and addition of new ECUs for development of intelligent vehicles. Because the embedded system of the integrated network control function has the errors of the CAN bus caused by the increase of ECU, it is needed for development of commercial vehicles. Also, this study presents the development of smart functions that can diagnosis CAN bus errors, fault diagnosis of ECU and basic function that arbitrates CAN bus between ECUs of commercial vehicle. GCM was designed for 4channel separation about Gateway function as solution of load rate decrease and smart functions. HILS(Hardware in the loop simulation)system that can achieve simulation about CAN Messages of all systems on vehicle was applied to evaluate performance and verification of all functions and performance. The load rate on CAN bus was decreased at using functions what was delivery, block and process of GCM. Through this, it was enabled to organize systematic architecture for gateway.

Fast Simulation on Flexible Multibody System Using Improved Domain Decomposition Method

Recently, HILS(Hardware in the Loop Simulation) has been utilized in the industrial world for the improvement of the product quality. HILS system requires the real time simulation for the MBD model. Fujikawa proposed a dynamic response analysis technique using the domain decomposition method(DDM) connecting with the elastic elements. This technique ensures the numerical stability and the accuracy of the numerical calculation by introducing the iteration into the constant external force method in each time step. This paper proposes an improved domain decomposition method(IDDM) for more fast simulation of the actual flexible multibody dynamics. In the Fujikawa's technique, the predicted displacement was assumed to be the displacement of the connecting point. In the IDDM, Taylor developing is employed to the predicted displacement in order to reduce the iteration number. This paper also proposes the fast simulation technique of the IDDM for coupled system which consists of three subsystems with different frequency characteristics by employing different time step for each subsystem. It is clarified that the computing time using the IDDM can be reduced on the application for the dynamic simulation of the actual digging operations of the hydraulic excavator.

Fast simulation of flexible multibody dynamics with electric-hydraulic drive system

Hardware in the loop simulation (HILS) has been investigated in the field of the multibody dynamics (MBD), which combined the MBD simulation with the actual mechanical system. The fast simulation is necessary for the HILS system in order to require the real time simulation. This paper presents a fast simulation technique using the domain decomposition method with the iteration in the flexible multibody system in which flexible linkage system and electro-hydraulic drive system are coupled with each other.

The Hardware-in-the-loop Simulator: A Mechatronic Testbed for Cooperative Vehicles Maneuvers

The Hardware-in-the-loop (HIL) simulation is both effective and necessary for Intelligent Vehicle-Highway Systems (IVHS). This paper introduces the prototype HIL simulation system, the Wuhan University of Technology Simulator (WUTS), which is a novel, mechatronic, and scaled testbed to conduct researches on cooperative vehicles in IVHS. An overview of this system, including system architecture, development process, and individual hardware implementation, is presented. A simplified vehicle model is proposed and applied into the WUTS using similarity principle based on the system modeling on the real vehicle and hardware. Two cooperative vehicles cases of following and lane-changing maneuvers were studied and emulated in the WUTS. Experimental results demonstrate that WUTS and developed vehicle models are effective and accurate for IVHS studies.

Development of a hardware in the loop simulation system for electric power steering in vehicles

In this paper, a hardware-in-the-loop simulation (HILS) system was developed before the development of an electric power steering (EPS) system in a vehicle. This study was focused on the establishment of the HILS system. Driving conditions are simulated with the HILS system. The actual steering input parameters are confirmed on the monitor while driving the HILS system. The steering forces observed in the simulation with the developed HILS system are similar to those in real vehicle tests. The developed HILS system can be applied in the development of various types of EPS systems.

The Hardware in the Loop Simulation System of Speed Ratio Control on EMCVT

The Hardware in the Loop Simulation System of Speed Ratio Control on EMCVT

Hardware-in-the-Loop Simulation System in the Development of Temperature Controller of Plastic Extruder

In order to verify the performance of the designed temperature controller of the plastic extruder using supercritical CO2, we developed a Hardware-In-the-Loop (HIL) simulation system based on Matlab/Simulink RTW. In this platform, data transmission between real process and Matlab workshop was carried out by the data acquisition cards supported by xPC Target, so that the physical system was integrated to the simulation loop, and the system modeling, analysis, digital simulation and target downloading were all realized. The result showed that the designed temperature control algorithm had better effect when used in the plastic exturder production field. This HIL simulation system can shorten the development cycle and cost, improve the design level of the control system, and provide a solution to the demonstration of the controller in the real-time mode. What’s more, this simulation system can be applied in other process control fields as flow, pressure, etc.

Hardware-In-the-Loop Simulation System for Duplication of Actual Running Conditions of a Multiple-car Train Consist

Bench tests for existing railcars are effective for measuring their dynamic performance. However, to date it has not possible to duplicate the actual running conditions of one car to a multiple car train consist. This paper explains the development of a hardware-in-the-loop simulation (HILS) system composed of an actual car, a distributed real-time simulator, a real-time network and car end simulators that simulate the dynamic behavior of the end surfaces of adjacent car bodies. This report introduces the HILS system and shows the results of shaking tests on the actual car used to reproduce the running conditions of a three-car train in the HILS system.

332 マルチボディ車両モデルを用いたタイヤ-サスペンションHILSシステムの開発

An accurate description of the tire characteristics is very important for vehicle dynamic analysis. However, the characteristics of a tire are very complex, and it is not easy to develop the analytical model of tire force. It is also well known that the actual tire force is greatly affected by the suspension properties. Therefore, it is necessary to evaluate the tire characteristics including the effects of the suspension system. In order to evaluate the effects of tire-suspension system on vehicle dynamics, we had developed a tire-suspension hardware-in-the-loop simulation (HILS) system. In this system, the various contact conditions of the tire can be realized. In addition, the tire-suspension HILS system enables us to carry out evaluation tests under constant condition in comparison with actual running tests. In previous study, we used roller rolling system to rotate the tire. However, contact conditions between the tire and the roller were estimated to be different from the conditions on the real road, which might cause different tire characteristics. In this study, we developed a flat belt rolling system to improve contact conditions. The effectiveness of the flat belt rolling system was evaluated by slip angle input test and slalom runnning test.

Development of Hardware In-the-Loop Simulation System for Testing Operation and Control Functions of Microgrid

This paper proposes a hardware in-the-loop simulation (HILS) system as a new method to develop and test control algorithms and operation strategies for a microgrid. The HILS system is composed of a real-time digital simulator (RTDS) for real-time simulation of the microgrid, a prototype microgrid management system (MMS) under test, and a communication emulator for interface between the prototype MMS and the RTDS. The prototype MMS is designed to operate microsources of microgrid and to control power flow at the point of common coupling (PCC) in the grid-connected mode, and voltages and frequency in the islanded mode of the microgrid. The MMS is tested in the grid-connected mode and in the islanded mode, respectively, to show the validation of the proposed HILS system.

모델기반 개발기술을 적용한 무인항공기 비행제어 소프트웨어 개발

본 논문은 근접감시 무인항공기(KUS-9)의 비행제어 소프트웨어(S/W) 개발 과정과 모델기반 개발 기술 적용 결과를 다룬다. 대표적인 상용 모델기반 설계도구인 MATLAB <TEX>$Simulink^{(R)}$</TEX>를 활용하여 통합개발 환경을 구축하고 비행제어법칙, 운용로직, 비행 시뮬레이션 모델, HILS(Hardware-in-the-Loop Simulation) 시스템 모델을 설계하였다. 설계 과정에서 요구사항 충족을 위한 시뮬레이션 및 동료검토를 수행하고 DO-178B 검증 도구를 이용하여 모델을 검증한 후 S/W시험 도구를 통해 C코드의 무결성을 검증하였다. 탑재 소프트웨어는 두 기종의 하드웨어 및 실시간운용체제(<TEX>${\mu}C$</TEX>/OS-II, VxWorks)에 탑재하여 HILS시험과 비행시험을 수행하였다. 모델기반 개발 기법을 적용함으로써 S/W 재사용성과 확장성을 확보하고 자동코드생성 기술을 이용하여 고신뢰 비행제어 S/W를 단기간에 성공적으로 개발하였다. This paper describes the Model-Based Development(MBD) process behind the flight control software of a close-range unmanned aerial vehicle(KUS-9). An integrated development environment was created using a commercial tool(MATLAB <TEX>$Simulink^{(R)}$</TEX>), which was utilized to design models for linear/nonlinear simulation, flight control law, operational logic and HILS(Hardware In the Loop Simulation) system. Software requirements were validated through flight simulations and peer reviews during the design process, whereas the models were verified through the application of a DO-178B verification tool. The integrity of automatically generated C code was verified by using a separate S/W testing tool. The finished software product was embedded on two different types of hardware and real-time operating system(uC/OS-II, VxWorks) to perform HILS and flight tests. The key findings of this study are that MBD Technology enables the development of a reusable and an extensible software product and auto-code generation technology allows the production of a highly reliable flight control software under a compressed time schedule.

HILS를 통한 무인항공기 카메라 지지 능동 마운트 시스템의 진동제어 성능 평가

In the present work, vibration control performance of piezoactuator-based active mount system for unmanned aero vehicle(UAV) equipment is evaluated via hardware in the loop simulation(HILS). At first, the vibration level of UAV is measured and from this vibration data, the proper piezostack actuator is selected. Then, the dynamic model of active mount system including four active mounts and UAV camera equipment is derived. In order to evaluate vibration control performance, the HILS system is constructed. The proposed mount is prepared as hardware part and the other mounts are considered in software part. A sliding mode controller is designed and implemented to the HILS system. Effective vibration control results are presented in both time and frequency domains.

Building a Railway Vehicle Model for Hardware-in-the-loop Simulation

We have developed a hardware-in-the-loop simulation (HILS) system as a virtual running-test environment to replace actual test runs. It is essential for the vehicle model in the HILS system to run under real-time conditions and for actual vehicle motion to be simulated accurately. In this paper, we introduce the HILS model and report on the results of amplitude-frequency response tests executed on a rolling stock motion stand to improve the model's performance by modifying its parameters.

자동변속기용 임베디드 시스템 성능 시험을 위한 Hardware-in-the Loop 시뮬레이터 구축

Drivers are becoming more fatigued and uncomfortable with increase in traffic density, and this condition can lead to slower reaction time. Consequently, they may face the danger of traffic accidents due to their inability to cope with frequent gear shifting. To reduce this risk, some drivers prefer automatic transmission (AT) over manual transmission (MT). The AT offers more superior drivability and less shifting shock than the MT; therefore, the AT market share has been increasing. The AT is controlled by an electronic control unit (ECU), which provides better shifting performance. The transmission control unit (TCU) is a higher-value-added product, so the companies that have advanced technologies end to evade technology transfer. With more cars gradually using the ECU, the TCU is expected to be faster and more efficient for organic communication and arithmetic processing between the control systems than the l6-bit controller. In this paper, the model of an automatic transmission vehicle using MATLAB/Simulink is developed for the Hardware in-the-Loop (HIL) simulation with a 32-bit embedded system, and also the AT control logic for shifting is developed by using MATLAB/Simulink. The developed AT control logic, transformed automatically by real time workshop toolbox, is loaded to a 32-bit embedded system platform based on Freescale's MPC565. With both vehicle model and 32-bit embedded system platform, we make the HIL simulation system and HIL simulation of AT based on real time operating system (RTOS) is performed. According to the simulation results, the developed HIL simulator will be used for the performance test of embedded system for AT with low cost and effort.

Hardware in the Loop Simulation of Vehicle Stability Control using Regenerative Braking and Electro Hydraulic Brake for Hybrid Electric Vehicle

Abstract In this paper, hardware in the loop simulation(HILS) for a hybrid electric vehicle(HEV) braking performance is performed to investigate the vehicle stability control algorithm in the varying road surface condition. The vehicle stability control algorithm consists of the optimal braking torque distribution between the regenerative braking and the electro hydraulic braking. In addition to the optimal braking torque distribution, a sliding mode type wheel slip control algorithm is proposed to maintain the target slip ratio. The HILS system is composed of 4 wheel calipers and the electro hydraulic brake(EHB) module, and dynamic model of the HEV powertrain constructed by MATLAB Simulink is used as a software part. It is found from the HILS results that vehicle stability control algorithm using the regenerative braking, EHB and slip ratio control is able to provide the improved braking performance such as shorter braking distance, smaller error of the sideslip angle and yaw rate.

2935 Hardware-in-the-Loopシミュレーションシステムを用いた車両運動特性の評価(J15-2 交通機関のダイナミクス(2),ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

This paper describes the development of a Hardware-in-the-Loop (HIL) simulation system with the tire-suspension testing machine and evaluation test with developed system. The tire-suspension testing machine consists of a tire, a suspension system of a passenger car and 6-degree-of-freedom (6-DOF) motion platform. In this HIL simulation system, real-time vehicle dynamic analysis is executed with measured tire forces, and 6-DOF motion platform is controlled based on analytical results. We carried out the evaluation test to investigate the effectiveness of HIL simulation system.

RESEARCH ON SPACE DOCKING HIL SIMULATION SYSTEM BASED ON STEWART 6-DOF MOTION SYSTEM

This paper presents the research on the experimental testing system of the space docking HIL (Hardware-In-the-Loop) simulation, which is based on a Stewart 6-DOF (Degree-Of-Freedom) motion system. First of all, spacecraft dynamics is analyzed. Because of the under-damping characteristic, stability of the HIL simulation system is analyzed, and control strategy of the 6-DOE-motion system, which is based on the phase compensation, is put forward to improve system stability. The influence created by the frequency characteristics of the 6-DOE-motion system on the accuracy and stability of the HIL simulation system is also analyzed. The characteristics of the spacecraft dynamics and the accuracy and feasibility of the HIL simulation system are verified with a non-damp collision device.