Loop Simulation System Research Articles

Research on flight control system hardware in the loop simulation system based on NI hardware platform for Unmanned Aerial Vehicle

HIL(Hardware in the loop) simulation of UAV(Unmanned Aerial Vehicle) plays an important role in flight control sysrtem development and algorithm verification. Taking the open source flight control system Pixhawk as the research object, this paper establishes a HIL system based on NI(National Instrument) hardware platform. The dynamic model and kinematic model are modeled through Simulink, the online management of simulation model is realized through Veristand, and the online display of model parameters and fault injection are realized through Labview. The simulation system can test the functional performance, reliability and safety of flight control system. The simulation results show that the simulation platform works reliably and has good real-time performance. It can effectively and reliably carry out the HIL of flight control system for UAV.

Hardware Loop Simulation of Distributed Embedded Integrated Circuits

In order to improve the performance of the automotive active safety system, the author proposes a distributed embedded ACCS hardware loop simulation system. The automotive adaptive cruise control system (ACCS) is a completely distributed embedded control system. The author adopts the method of hardware loop simulation, an ARM-based automotive ACCS simulation platform is designed, and the hardware structure and software design of the platform are introduced. The simulation results show that the performance of single-node and double-node responses to step change is basically the same. There is a network in the two-node control loop, the carrying capacity and communication bandwidth of the network are limited, which will inevitably cause information collision and retransmission, which will inevitably cause a delay in the information transmission process, with a delay of about 4.5 seconds. The system opens up the design idea of ACCS and also lays a foundation for future research in related directions, which has a certain enlightenment effect.

Methods to Improve Dynamic System Response of Power Compensators Using Supercapacitors in Low-Voltage Ride-Through (LVRT) Conditions

In this paper, a power compensator using supercapacitors in parallel to protect grid-connected devices connected to the distributed power supply in the case of a low-voltage ride-through (LVRT) situation in designed, and a grid-connected device control method with improved responsiveness is proposed. In the LVRT situation, the distributed generation power may boost the DC_link voltage, increasing the risk of destroying grid-connected devices. To prevent this, the power compensator designed in this study absorbs active power in a fault situation and stores it in the supercapacitor to suppress the DC_link voltage rise and efficiently use the power. In addition, we propose methods to improve the response of the grid reactive power through the reactive power compensation of the power compensator in LVRT situation. To this end, the power angle (θPW) was extracted through the formula, and the reactive power command, to be compensated by the power compensator, and the reactive power command, compensated by the grid-connected devices, were calculated according to the active power value. In this way, the grid power controlled by the power compensation device and the grid-connected devices was controlled by the active/reactive power of the same power angle and analyzed mathematically. Active power control and static grid support were performed in the normal state where the reduction rate of the normal value of the grid voltage was around 10%. However, when the grid voltage dropped by 10% to 100%, the reactive power control was appropriately performed with dynamic grid support by increasing the voltage from 10% to 20% or more. We conducted a simulation of the new and renewable energy grid-connected devices using the OPAL-RT-based Hardware-in-the Loop Simulation (HILS) system to control the proposed active/reactive power.

HILS of FPV-2600 UAV using MyRIO-1950 as Optimal Flight Control System

<p class='IJASEITAbtract'>Hardware in the Loop Simulation (HILS) system was successfully implemented to the embedded MyRIO-1950 on board as the flight control system (FCS) in FPV-2600 UAV modeling in X-Plane flight simulator. The modeling is carried out step by step using the Loop Simulation (SILS) and HILS software. In the SILS step, Labview and X-Plane succeeded in combining data communication via User Datagram Protocol (UDP) and controlling the vehicle to autopilot by waypoints mode. The subsequent development is to move the whole SILS results program into HILS, which involves software and hardware directly by combining the Predictive Control Model (MPC) as a linear simulation control model and PID as classical control, successfully controlling the FPV-2600 in a flight mode simulation in manual, stability and autopilot by waypoints. The simulation is done by doing a flight test manually and stability directly using remote control manually and stability using the remote control to analyze flight performance and vehicle stability. Furthermore, the simulation of autopilot by waypoints by tuning the MPC’s predictive and control horizon is related to the inner loop control on the roll and pitch, and the PID gain tuning is related to the altitude and the waypoints target. In this simulation, MyRIO-1950 as hardware can be used as a real-time simulation control for MPC and PID integrated into HILS, and this will be very useful for initial procedural reference before flying the FPV-2600 in the actual flight test.

Evaluation of Precise Microwave Ranging Technology for Low Earth Orbit Formation Missions with Beidou Time-Synchronize Receiver.

In this study, submillimeter level accuracy K-band microwave ranging (MWR) equipment is demonstrated, aiming to verify the detection of the Earth’s gravity field (EGF) and digital elevation models (DEM), through spacecraft formation flying (SFF) in low Earth orbit (LEO). In particular, this paper introduces in detail an integrated BeiDou III B1C/B2a dual frequency receiver we designed and developed, including signal processing scheme, gain allocation, and frequency planning. The receiver matched the 0.1 ns precise synchronize time-frequency benchmark for the MWR system, verified by a static and dynamic test, compared with a time interval counter synchronization solution. Moreover, MWR equipment ranging accuracy is explored in-depth by using different ranging techniques. The test results show that MWR achieved 40 m and 1.6 m/s accuracy for ranging and range rate during tests, using synchronous dual one-way ranging (DOWR) microwave phase accumulation frame, and 6 m/s range rate accuracy obtained through a one-way ranging experiment. The ranging error sources of the whole MWR system in-orbit are analyzed, while the relative orbit dynamic models, for formation scenes, and adaptive Kalman filter algorithms, for SFF relative navigation designs, are introduced. The performance of SFF relative navigation using MWR are tested in a hardware in loop (HIL) simulation system within a high precision six degree of freedom (6-DOF) moving platform. The final estimation error from adaptive relative navigation system using MWR are about 0.42 mm (range/RMS) and 0.87 m/s (range rate/RMS), which demonstrated the promising accuracy for future applications of EGF and DEM formation missions in space.

Design of Flight Closed Loop Simulation System Based on Runge-Kutta Algorithm

To solve the problem that the function/performance of the module cannot be fully verified in the laboratory or in the field during the design stage of the airborne radar system, the paper proposes and designs an airborne flight closed-loop simulation system. The flight simulator, which is the core of the entire simulation system, uses the Runge-Kutta algorithm to solve the model and solve the 6-degree-of-freedom nonlinear model of the aircraft in real time, providing realistic aircraft movement data for the airborne radar system. The design builds a Matlab/Simulink simulation model and embeds it in simulation test software to run independently as a model component. The verification test of the closed-loop simulation system shows that the system can realize the real-time simulation of the entire flight environment and meet the design performance requirements.

Development of Mobile Ground Control System and GPS Base Auto Tracking Antenna

Flight test of both rocket and high speed Unmanned Aerial Vehicle (UAV), which is currently developed by LAPAN, can not be separated from the need for a monitoring system of all the attitude of the vehicles. Utilizing and combining some of the available equipment components into a ground control system (GCS) equipped with GPS based auto tracking antenna, makes it easy in previous flight test activities that only do tracking antenna manually. This ground control system is equipped with automatic tracking antenna that always leads to the vehicle, so that the data attitude of flying the vehicle will be maximally monitored and analyzed directly with ease. This system has been tested on a laboratory scale related to testing using hardware in the loop simulation system

Numerical simulation of a cabin ventilation subsystem in a space station oriented real-time system

An environment control and life support system (ECLSS) is an important system in a space station. The ECLSS is a typical complex system, and the real-time simulation technology can help to accelerate its research process by using distributed hardware in a loop simulation system. An implicit fixed time step numerical integration method is recommended for a real-time simulation system with time-varying parameters. However, its computational efficiency is too low to satisfy the real-time data interaction, especially for the complex ECLSS system running on a PC cluster. The instability problem of an explicit method strongly limits its application in the ECLSS real-time simulation although it has a high computational efficiency. This paper proposes an improved numerical simulation method to overcome the instability problem based on the explicit Euler method. A temperature and humidity control subsystem (THCS) is firstly established, and its numerical stability is analyzed by using the eigenvalue estimation theory. Furthermore, an adaptive operator is proposed to avoid the potential instability problem. The stability and accuracy of the proposed method are investigated carefully. Simulation results show that this proposed method can provide a good way for some complex time-variant systems to run their real-time simulation on a PC cluster.

Research on winding trajectory planning for elbow pipe based on industrial robot

The geodesic winding trajectory for six degrees of freedom industrial robot with a composite elbow is studied. The parameter variation caused by the enveloping form, length of the hanging filament, and geodesic winding is considered, and the resulting influences on kinetic stability of the robot elbow winding are analyzed. Then the winding trajectories of a robot elbow with different winding strategies are calculated, and the well planned winding trajectory of the elbow is given. Based on a closed loop simulation system which is composed of ADAMS and MATLAB, the elbow winding motion and the robot winding motion space prediction simulation is carried out. After the simulation, a post-processing is used on the elbow planning winding trajectory, and then an executable instruction document of the robot elbow winding was generated. Finally, an experiment on the composite elbow dry fiber winding is used to show that the designed winding trajectory of a composite elbow can stabilize the winding pattern; also, the slip yarn, overhead, and other problems are avoided. In addition, the winding precision completely meets the design requirements. The movement of the robot is smooth, and the actual workspace of the robot elbow winding trajectory is consistent with the simulation workspace.

红外制导半实物仿真系统误差分析

红外制导半实物仿真系统误差分析

Modeling and Simulation of Engagement Process of Antiaircraft Missile for Training Simulation

Aiming at requirements to depict engagement process of the hardware in loop simulation system of antiaircraft missile based on industrial computers for operational training simulation, the paper establishes the guidance and trajectory mathematical models for the process of antiaircraft missile attacking target. According to the result of missile velocity simulation by means of a trajectory simulation system of six degrees of freedom of an antiaircraft missile, a realistic mathematical model of the missile velocity parameter is established; a realistic mathematical model of a missile single shot kill probability (SSKP) is established with relative kill area data of a missile. The simulation model of the missile engagement process is implemented with VC++, which could be used to really simulate a whole engagement process of a missile flying and destroying a target. The experiments indicate the model is correct, the result is credible, the method is effective, and the thought solving the mentioned problem is very helpful for improving operational ability of personnel with similar training simulation system.

Driver Model Based on Controller with Open and Close Loop

It is very important to simulate driver's manipulation for people - car - road closed loop simulation system. In this paper, the driver model is divided into two parts, linear vehicle model is used to simulate the driver's driving experience, and closed-loop feedback is used to characterize the driver's emergency feedback. The lateral acceleration of vehicle is used as feedback in closed loop control. Simulation results show that the smaller lateral acceleration requires the less closed-loop feedback control. The driver model can accurately track the target path, which can be used to simulate the manipulation of the driver. The driver model can be used for people - car - road closed loop simulation to evaluate vehicle handling stability.

捷联式光学图像导引头视线角速率估计

In order to estimate line-of-sight (LOS) angular rate of strapdown seeker accurately, strapdown optical image seeker mathematical model is established. According to the relative motion between missile and target, LOS angular rate estimation algorithm is researched. The required algorithm coordinates are defined, strapdown seeker and gyro models are also established. According to the relative kinematics and attitude relationship of missile and target, the nonlinear state equations of LOS angular rate are given. Aimed at filtering accuracy and real-time application problems, LOS angular rate estimation algorithm based on unscented Kalman filtering (UKF) is proposed. Hardware in loop simulation system are established, and experiments are carried out. The result shows that, the maximum estimation errors of LOS angle and LOS angular rate are 0.37 and 0.68/s, the estimation accuracy are 0.1008 and 0.2116/s, respectively. Algorithm running time is about 3.8 ms in digital signal processor, the estimation algorithm can meet the accuracy and real-time performance requirements of guidance system simultaneously. LOS angular rate estimation algorithm based on UKF provides a theoretical basis for engineering applications of the strapdown optical image seeker.

鉄道車両用HILSシステムによる仮想走行試験環境の構築(&lt;メカライフ特集&gt;合のものづくり)

鉄道車両用HILSシステムによる仮想走行試験環境の構築(&lt;メカライフ特集&gt;合のものづくり)

Research of Synthesis Loop Experiment Simulation System

To save the experiments cost of verifying the synchronous control systems performance, a set of synthesis loop experiment simulation system is designed in this paper. Firstly, on the basis of analysis the working principle of the synthesis loop, the components used for the various parts of the synthesis loop simulation system are designed. Secondly, according to the characteristics of the two experimental loop, Will experiment, High-Closing experiment, circuit diagrams are designed respectively, software is debugged, and finally get the simulation system which meet the requirements.

Design on Indoor Hardware-in-Loop Simulation System for Terminal Sensitivity Projectile

Terminal Sensitivity Projectile is served as the research object and the hardware-in loop simulation technology is employed to design the indoor hardware-in loop simulation system for infrared sensor of terminal sensitivity projectile. This system employs the Multi-Gen Creator to build the scene model and the target three-dimensional geometrical model as well as employs the Vega to produce the digital scene of detection field for infrared sensor. Meanwhile, the detection system of terminal sensitivity projectile--- infrared sensor is served as the substance and introduced into the simulation system to participate in the test and consist of the closed loop with other physical models and mathematical models as well as complete the real-time simulation function of terminal sensitivity projectile. The simulation result indicates that the infrared sensor can completely identify the target and is provided with such advantages as low false detection ratio and low omission ratio.

OPAL-RT 기반의 Hardware-in-the-Loop Simulation (HILS) 시스템을 이용한 독립운전모드 마이크로그리드 시뮬레이션

A microgrid is a small scale power system. The microgrid is operated in two operation modes, the grid-connected mode and the islanded mode. In the islanded mode, the frequency of a microgrid should be maintained constantly. For this, the balance between power supply and power demand during islanded mode should be met. In general, energy storage systems (ESSs) are used to solve power imbalance. In this paper, the frequency control effect of a Lithium-ion battery energy storage system (Li-ion BESS) has been tested on the hardware-in-the loop simulation (HILS) system environment.

A Comprehensive Analysis and Solution for Traction Motor Speed Measurement in High Speed Train

In high speed train, to obtain precise speed is important to high performance control, though the transducers used in the train are usually low resolution. The speed measurement was analyzed both on precision and update rate according to the control requirement. A comprehensive measure and calculation solution for traction motor speed measurement is presented. Measure clock period is adjusted according to motor’s different speed range and can obtain good measurement precision both in low and high speed range. The speed update rate can also be guaranteed. The proposed method is implemented and validated by hardware in loop simulation system.

Hardware-in-the-Loop Simulation and Flight Experimentation of the Control System on a Small Solid Rocket

By using the Perturbation Theory and solidification coefficient method, based on the interpolation parameters for optimal control feedback matrix, the design of optimal roll control system for a small solid rocket is achieved. The hardware-in-the-loop simulation platform built with DSPACE real-time simulator and high-precision three axis turntable is designed to validate the optimal control law. As for no feedback device of the steering gear, the radios are used to transfer the signals between the devices in the closed loop simulation system. Finally, through the flight-testing, the results confirm a good stability of the roll control system and the high reliability of the hardware-in-the-loop simulation platform.

Design of Semi-Physical Simulation System of UAV Based on Computer Control

For a fly control system of UAV, the author designs the hardware in the loop simulation system, formulates the construction and working theory of it, and introduces the formulation software. The results shows that, the system can supply the good simulation circumstance for this automatic pilot, save the cost and the time. Especially, it is of significance to evaluate the fly quality and accelerate the research progress of UAV.