Verification Of Control Algorithm Research Articles

Development and Performance Verification of Frequency Control Algorithm and Hardware Controller Using Real-Time Cyber Physical System Simulator

Frequency stability is a critical factor in maintaining the quality of the power grid system. A battery energy storage system (BESS) with quick response and flexibility has recently been used as a primary frequency control (PFC) resource, and many studies on its control algorithms have been conducted. The cyber physic system (CPS) simulator, which can perform virtual physical modelling and verification of many hardware systems connected to the network, is an optimal solution for the performance verification of control algorithms and hardware systems. This study introduces a large-scale real-time dynamic simulator that includes the national power system. This simulator comprises a power grid model, an energy management system (EMS) model, a BESS system model, and a communication model. It performs the control algorithm performance evaluation and the hardware controller’s response performance evaluation. The performance of the control algorithm was evaluated by tracking the power system’s characteristic trajectory in the transient state based on the physical response delay time between the output instruction of the frequency regulation controller (FRC), a hardware controller, and the output response of the BESS. Based on this, we examined the response performance evaluation results by linking them to the optimally designed actual FRC. As a result, we present an analysis of the BESS’s characteristic trajectories in the transient state, such as frequency, power system inertia, and power grid constant, and provide FRC response performance evaluation results at a level of 163 ms, by connecting the BESS installed at the actual site with the CPS simulator.

Virtual interaction and manipulation control of a hexacopter through hand gesture recognition from a data glove

AbstractThe purpose of this study is to realize virtual interaction and manipulation control of a hexacopter based on hand gesture recognition from a designed data glove, to provide an intuitive and visual real-time simulation system for flight control algorithm verification and external control equipment testing. First, the hand gesture recognition from a designed data glove is studied, which can recognize different actions, such as mobile ready, grab, loosen, landing, take-off, and hover. Then, the design of virtual simulation system for hexacopter capture is completed, with the model design of hexacopter and manipulator, and the simulation software design with $CoppeliaSim$ . Finally, virtual simulation experiment of hexacopter grasping and virtual flight control experiment based on data glove are tested, respectively, and quantitatively described. The overall recognition rate is 84.3%, indicating that the data glove produced has the ability to recognize gestures, but its recognition performance is not superior. In gesture recognition, the recognition rate of static gestures is relatively higher than that of dynamic gestures. Among the static gestures, the hover gesture has the highest recognition rate. The average correct rate of static gestures can reach 94%. The lowest recognition rate of dynamic gestures is upward movement, and the average recognition rate of dynamic gestures is 76.1%. The research can be used to remotely operate hexacopter using a data glove in the future and improve the control performance through virtual interaction and manipulation simulation before actual application.

Overview of Control Algorithm Verification Methods in Power Electronics Systems

The paper presents the existing verification methods for control algorithms in power electronics systems, including the application of model checking techniques. In the industry, the most frequently used verification methods are simulations and experiments; however, they have to be performed manually and do not give a 100% confidence that the system will operate correctly in all situations. Here we show the recent advancements in verification and performance assessment of power electronics systems with the usage of formal methods. Symbolic model checking can be used to achieve a guarantee that the system satisfies user-defined requirements, while statistical model checking combines simulation and statistical methods to gain statistically valid results that predict the behavior with high confidence. Both methods can be applied automatically before physical realization of the power electronics systems, so that any errors, incorrect assumptions or unforeseen situations are detected as early as possible. An additional functionality of verification with the use of formal methods is to check the converter operation in terms of reliability in various system operating conditions. It is possible to verify the distribution and uniformity of occurrence in time of the number of transistor switching, transistor conduction times for various current levels, etc. The information obtained in this way can be used to optimize control algorithms in terms of reliability in power electronics. The article provides an overview of various verification methods with an emphasis on statistical model checking. The basic functionalities of the methods, their construction, and their properties are indicated.

Design and Implementation of the Universal Servo Control Algorithm Verification System Based on High-Speed Communication Fieldbus

In recent years, there have been several breakthroughs in the theoretical research of servo control algorithms. However most of these control algorithms remain in the simulation stage. They are difficult to be applied directly to practical platforms or complex industrial sites because of the lack of an experimental system suitable for the verification of their effectiveness. To address this problem, we designed a multi-function servo control algorithm verification experiment system (MVES) within the MATLAB/Simulink theoretical simulation model directly to communicate with the TwinCAT 3 PLC master program to perform different servo control experiments. The MVES supports various Simulink models. However, its and the operation is simple and convenient, which greatly reduces the workload of the algorithm test and has important practical value. Two sets of comparative experiments were used to verify the versatility and superiority of MVES.

Research on Dynamic Performance Simulation of In-wheel Motor Electric Vehicle Based on CarSim-Simulink

In order to reduce test costs and improve work efficiency, on the basis of the existing in-wheel-motor electric vehicle platform, CarSim software is used to establish a complete in-wheel-motor electric vehicle model that matches the actual vehicle. Based on Simulink, the dynamic model of the in-wheel motor is established. By defining the interface between the vehicle and the motor drive system, a joint simulation platform for in-wheel motor electric vehicles is established based on CarSim-Simulink, and simulation verification is performed on it. The results show that the established simulation model has high accuracy, can better simulate the existing experimental vehicle, accurately reflect the dynamic performance response of the vehicle, and provide a basis for further research and verification of control algorithms.

Verification of Control Algorithm for Improving the Lateral Restoration Performance of an Independently Rotating Wheel Type Railway Vehicle

An individual motor torque control technology to improve the lateral restoring performance of the independently rotating wheel type railway vehicle, which has been applied for reasons such as low floor structure of the vehicle and application of variable gauge technology, has been developed. A new bogie analysis model and a small-scale roller-rig test bench respectively were developed to verify the control technology. A new bogie analysis model has been developed to improve the accuracy of analysis of the lateral and yaw motion of the actual vehicle. The model was verified through the response of the disturbance and critical velocity analysis. The performances of proposed control logic were verified by accomplishing a small-scale roller-rig test and simulation with improved analytical model. Lateral displacement control performs the opposite phase control by the control torque applying in the opposite direction to the front and rear wheelset, while yaw control performs the same phase control by applying the control torque in the same direction. Afterwards the yaw moments of the wheelset are combined to create a yaw moment of bogie, reducing the yaw angle and lateral displacement together. It was verified through analysis and test that the lateral restoring control performance based on the yaw angle (same phase control) was superior to the based on lateral displacement (opposite phase control).

Design of Large Scale Virtual Equipment for Interactive HIL Control System Labs

This paper presents a method to design high-quality 3D equipment for virtual laboratories. A virtual control laboratory is designed on large-scale educational purpose with merits of saving expenses for universities and can provide more opportunities for students. The proposed laboratory with more than 30 virtual instruments aims at offering students a convenient experiment as well as an extensible framework for experiments in a collaborative way. Hardware-in-the-loop (HIL) simulations with realistic 3D animations can be an efficient and safe way for verification of control algorithms. Advanced 3D technologies are adopted to achieve convincing performance. In addition, accurate mechanical movements are designed for virtual devices using real-time data from hardware-based simulations. Many virtual devices were created using this method and tested through experiments to show the efficacy. This method is also suitable for other virtual applications. The system has been applied to a creative automatic control experiment course in the Harbin Institute of Technology. The assessment and student surveys show that the system is effective in student's learning.

Development and application of a simulator for offshore wind turbine blades installation

In an offshore environment, offshore wind energy resources are more available and stable, but the investment cost is much higher than that of onshore wind. The installation cost is a crucial factor of the investment. With the increasing number of planned and approved offshore wind farms, offshore wind turbine installation and relevant operations have received tremendous attention. Therefore, expediting the turbine-structure mating operations through a higher level of automation in offshore wind turbine installations may provide important economic benefits. To achieve a higher automation level and reduce the weather waiting time during the installation of offshore wind turbines, a flexible simulation-verification framework with high fidelity is needed. However, state-of-the-art wind turbine numerical analysis code is neither convenient nor open enough for applications concerning the design and verification of control algorithms. MATLAB/Simulink is among the most widely utilized numerical platforms by control engineers and researchers. This paper describes the development of a modularized blade installation simulation toolbox for the purpose of control design in MATLAB/Simulink. The toolbox can be used to simulate several blade installation configurations, both onshore and offshore. The paper presents the key features and equations of the different modules, exemplified by a single blade installation operation. Code-to-code verification results are presented and discussed with both quasi-steady wind and three-dimensional turbulent wind field.

Автоматизированная верификация алгоритмов управления сложными технологическими объектами на программных имитаторах

Автоматизированная верификация алгоритмов управления сложными технологическими объектами на программных имитаторах

Intelligent Positioning Plate Predictive Control and Concept of Diagnosis System Design

<span lang="EN-US">This paper presents design of the predictive control algorithms, which are verified using the simulation and laboratory model of the Intelligent Positionig Plate. The results of the predictive control algorithm verification are presented also in this article. The created tool called the <em>IPPtools</em> is based on the designed predictive control algorithms and it is shortly presented. A part of the paper is dedicated to the concept of the diagnosis system, which is designed and implemented into the 5-level Distributed Control System of the Department of the Cybernetics and Artificial Intelligence. Possibility how to modify the predictive control algorithms using diagnosis system is also stated in the last section of this paper.</span>

V2X 및 환경 센서 융합 기반 교차로 안전 시스템 알고리즘 개발

This paper describes the development and verification of control algorithms for V2X and environmental sensor integrated intersection support and safety systems. The objective of the research is to develop core technologies for effective fusion of V2X and environmental sensors and to develop new safety function for intersection safety. One of core technologies is to achieve the improvement of GPS accuracy, and the other is to develop the algorithm of a vehicle identification which matches all data from V2X, vehicle sensors and environmental sensors to specific vehicles. A intersection optimal pass (IOP) algorithm is designed based on these core technologies. IOP recommends appropriate speed to pass the intersection in the consideration of traffic light signal and preceeding vehicle existence. Another function is developed to prevent a collision avoidance when car crash caused by traffic violation of surrounding vehicles is expected. Finally all functions are implemented and tested in three test vehicles. It is shown that IOP can support convenient and comfortable driving with recommending optimal pass speed and collision avoidance algorithm can effectively prevent collision caused by traffic sign violation of surrounding vehicles.

Experimental Research on an Active Sting Damper in a Low Speed Acoustic Wind Tunnel

Wind tunnels usually use long cantilever stings to support aerodynamic models in order to reduce support system flow interference on experimental data. However, such support systems are a potential source of vibration problems which limit the test envelope and affect data quality due to the inherently low structural damping of the systems. When exposed to tunnel flow, turbulence and model flow separation excite resonant Eigenmodes of a sting structure causing large vibrations due to low damping. This paper details the development and experimental evaluation of an active damping system using piezoelectric devices with balance signal feedback both in a lab and a low speed acoustic wind tunnel and presents the control algorithm verification tests with a simple cantilever beam. It is shown that the active damper, controlled separately by both PID and BP neural network, has effectively attenuated the vibration. For sting mode only, 95% reduction of displacement response under exciter stimulation and 98% energy elimination of sting mode frequency have been achieved.

Implementation of a controller for a static VAr compensator in large industrial networks

This paper deals with the development of a control algorithm for reactive-power compensation, flicker compensation and voltage regulation in large, industrial networks. The concept of compensation with a static-var compensator (SVC) and control-algorithm verification with realistic simulation examples using an actual industrial-network model are presented. In this paper a new control algorithm for control SVC devices is proposed. With this controller the SVC devices can operate in three modes: reactive-power compensation, flicker-level compensation or voltage regulation. The advantages of the proposed controller compared to other known regulators are the better flicker-level compensation and cheaper installation, because it requires only one measurement location. The data obtained with the simulations showed that the proposed controller can be successfully used for the control SVC devices for the reduction of flicker levels, the compensation of reactive power and for the regulation of voltage levels in large industrial networks.

Graphical Description of Soft Fault on Manufacturing Systems Using FDI Strategy: a SCL Approach

This work shows the benefits of a virtual graphical environment to model soft faults behavior in the resources of typical manufacturing processes applying Fuzzy Filter Time Series. It is shown in this work that using the programming tool called Scheduling Control Language (SLC), it is possible to improve the level of abstraction to introduce non–deterministic characteristics in the structural and functional description for each resource and the whole definition for the model. A graphical representation is proposed to generate an on–line platform as a virtual manufacturing laboratory. This instrument will be useful for academic, research and industrial applications. This tool can be used for validating and evaluating models, simulation of scheduling tasks and verification of control algorithms

Dual Control System for Virtual Protection of a Remote UAV Experiment

The topic of this paper is the utilisation of a strategy with a dual control system for the prevention of damage on laboratory equipment used in a remote laboratory. One control system is implemented before the laboratory is deployed and is responsible for damage control and can override the second control system that is programmed by the user of the remote laboratory and is fully configurable. The laboratory is used for verification of control algorithms for quad rotor helicopters through practical experiments. The damage control strategy should not limit or impede the natural movement of the equipment as long as the behaviour is kept within predefined limits. The nature of the system to be controlled, exclude the use of physical constraints that are normally used for damage control, as these in some way or another will impede or limit the movement of the helicopter.

Development and laboratory verification of control algorithms for formation flying configuration with a single-input control

Once been orbited, the technological nanosatellite TNS-0 no. 1 is supposed to be used in one of the next missions for the demonstration of orbital maneuvering capability to eliminate a secular relative motion of two satellites due to the J2 harmonic of the Earth gravitational field. It is assumed that the longitudinal axis of the satellite is stabilized along the induction vector of the geomagnetic field and a thruster engine is installed along this axis. Continuous and impulsive thruster control algorithms eliminating the secular relative motion have been developed. Special equipment was developed in ZARM for demonstration and laboratory testing of the satellite motion identification and control algorithms. The facility consists of a horizontal smooth table and mobile mock-up that enables to glide over the table surface due to compressed air stored in on-board pressure tanks. Compressed air is used to control the translation and attitude motion of the mock-up equipped with a number of pulse thrusters. In this work a dynamic model for mock-up controlled motion over the table is developed. This allows us to simulate a relative motion of a pair of TNS-0 type nanosatellites in the plane of the orbit.

A laboratory facility for verification of control algorithms for a group of satellites

A laboratory facility LuVeX consisting of a smooth horizontal table and models moving on its surface was developed at ZARM for adjustment of control algorithms for group motion of satellites. This paper describes the facility and implemented control algorithms for air-breathing pulsed jet engines mounted on moving models to provide their translational and rotational motion. The facility performance is proved by the results of numerical simulation of the control algorithm for the motion of a group of models along a given trajectory.

Control of the road tunnel CO density by a feedforward algorithm

For a long road tunnel, a tunnel ventilation system may be used in order to reduce the pollution below the required level. To control the tunnel pollution, a closed loop control algorithm may be used. A feedforward prediction algorithm and a cascade control algorithm were developed to regulate the CO level in a tunnel. The feedforward prediction algorithm composed of a traffic estimation algorithm and a CO density prediction algorithm, and the cascade control algorithm composed of a jet fan control algorithm and an air velocity setpoint algorithm. The verification of control algorithms was carried out by dynamic models developed from actual tunnel data. Simulation results showed that control algorithms developed for this research may be effective for the control of the tunnel ventilation system. (A) This paper was presented at Safety in the underground space - Proceedings of the ITA-AITES 2006 World Tunnel Congress and the 32nd ITA General Assembly, Seoul, Korea, 22-27 April 2006. For the covering abstract see ITRD E129148. Reprinted with permission from Elsevier.

Robot language for manipulation systems programming, teaching, and verification of control algorithms

The paper describes language UMS for manipulation task programming and manipulation systems teaching. Basic features of the language are outlined and the approach to the trajectory synthesis with motion statements is described. The structure of the language is briefly explained as well as the instruction set. The language is compared with some other industrial robot languages.

Manipulation robots: Computer aided design and control synthesis

Concept and brief description of major program modules for realization of general manipulation system “simulator”, i.e. programming system for the design, dynamic analysis, synthesis and verification of control algorithms for manipulation systems of arbitrary mechanical configuration is presented. The simulation system can be used for the computer-aided design of the stand-alone manipulation systems as well as for the teleoperational systems controlled semi-automatically. The simulation system is based on the computer-generated complete dynamic model of the active spatial mechanisms. The simulator is intended for: (1) the mechanical configuration design, (2) the control synthesis for the chosen mechanical configuration and actuators, adopted control structure and given class of manipulation tasks. Previously developed and tested algorithms and computer-aided design procedures, used in developing the system, are reported in references. This paper should be understood as conceptual description of the programming system which synthesizes all previous results.