The simulation techniques of hardware-in-loop simulation(HLS) of homing antitank missile based on the personal computer (PC) are discussed. The PC and MCS-96 chip controller employ A/D and D/A boards (with photoelectr...The simulation techniques of hardware-in-loop simulation(HLS) of homing antitank missile based on the personal computer (PC) are discussed. The PC and MCS-96 chip controller employ A/D and D/A boards (with photoelectricity isolation) to transfer measur ment and control information about homing head, gyro and rudder and utilize the digital hand shaking board to build correct communication communication protocol. In order to satisfy the real-time requirement of HLS, this paper first simplifies the aerodynamic data file reasonably, then builds a PC software with C language. The program of the controller part is made with PL/M language. The simulation of HLS based on PC is done with the same sampling period of 10ms as that of YH-F1 and the experiment results are identical to those of digital simulation of the homing anti-tank guided missile.展开更多
A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated b...A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated by electro hydraulic servo valve-control variable pump according to the surface roughness, load, cutting force, and thermal effects of worktable. The mathematical models of the controllable chamber flow, servo variable mechanism and controller were built. The pose control model was established, which contained the kinematics positive and negative solution and control strategy of feedforward and hydraulic cylinder position feedback. Hardware-in-loop simulation experiment was carried out on the electro hydraulic servo test bench by means of the non-linear relation of film thickness and hydraulic cylinder displacement. Hardware-in-loop simulation experiment results show that the controllable bearings exhibit high oilfilm rigidity, the rising time is 0.24 s and the maximum overshoot is 2.23%, and can be applied in high precision heavy machine tool.展开更多
This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehi...This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.展开更多
In order to facilitate the teaching of industrial processes and experiments on the twin-screw extruder control debugging,and be closer to the actual testing,to reduce the debugging costs and the risk of debugging proc...In order to facilitate the teaching of industrial processes and experiments on the twin-screw extruder control debugging,and be closer to the actual testing,to reduce the debugging costs and the risk of debugging process,the paper designs a hardware-in-loop simulation of twin-screw extruder experiment system which is closer to scene,low cost and high safety.The system through the establishment of twin-screw extruder’s mathematical model on computer to simulate the realistic system and there is hardware practicality in the computer simulation loop.The hardware based on C8051F020 can operate in the simulation loop in real time.In computer software design, we desigh man-machine interface that is intuitive and easy to operate,can reflect twin-screw extruder main operation information vividly.Finally,twin-screw extruder’s 3 heater temperature mathematical model and PID incremental control algorithm are presented.展开更多
FSC （Fractionated Spacecraft Cluster） is a kind of loosely distributed space system which is comprised of multiple physically independent spacecrafts orbiting closely and interactively communicating via wireless net...FSC （Fractionated Spacecraft Cluster） is a kind of loosely distributed space system which is comprised of multiple physically independent spacecrafts orbiting closely and interactively communicating via wireless network. Spaceborne ad-hoc network, as the physical infrastructure for information exchanging, is one of the enabling technologies of FSC. The demonstration of FSC flying supported by ad-hoc network is worth for the sake of proving the rationality of FSC and seeking technological improvements. Considering this, a NNP （Network Node Prototype） for spaceborne ad-hoc network is developed in this paper, which transmits the information required by the FSC cooperation. Four NNPs are then built up and collaborated into a hardware-in-loop simulation system, in which a typical loose satellite cluster flying mission was performed. The simulation results showed that the NNPs can support the inter-satellite communication for satellite cluster flying.展开更多
The design of a turbofan rotor speed control system, using model reference adaptive control（MRAC） method with input and output measurements, is discussed for the purpose of practical application. The nonlinear compe...The design of a turbofan rotor speed control system, using model reference adaptive control（MRAC） method with input and output measurements, is discussed for the purpose of practical application. The nonlinear compensator based on functional link neural network is used to deal with the engine nonlinearity and the hardware-in-loop simulation is also developed. The results show that the nonlinear MRAC controller has the adequate performance of compensating and adapting nonlinearity arising from the change of engine state or working environment. Such feature demonstrates potential practical applications of MRAC for aeroengine control system.展开更多
Flywheel Energy Storage System (FESS) is used as an energy regeneration system to help with reducing peak power requirements on RTG cranes that are used to load or unload container ships. Nevertheless, with the use of...Flywheel Energy Storage System (FESS) is used as an energy regeneration system to help with reducing peak power requirements on RTG cranes that are used to load or unload container ships. Nevertheless, with the use of FESS, Port Operator can deploy undersized generator for new RTG as this will further reduce fuel consumption. This paper presents the investigation of the amount of energy and fuel consumption that can be reduced in Rubber Tyred Gantry (RTG) cranes in container terminals by the use of simulation. In addition, Variable Speed Generator is integrated to the simulation-hybridized RTG. Simulation results reveal that the total energy saving exceeded 30% relatively to conventional RTG. A hardware-in-loop system is introduced for the purpose of validating the simulation results. The hardware components procured include a FESS, a Variable Frequency Drive (VFD) and brake resistors.展开更多
This paper focuses on the controller design using fuzzy sliding mode control(FSMC)with application to electro-mechanical brake(EMB)systems using BLDC Motor.The EMB controller transmits the control signal to the motor ...This paper focuses on the controller design using fuzzy sliding mode control(FSMC)with application to electro-mechanical brake(EMB)systems using BLDC Motor.The EMB controller transmits the control signal to the motor driver to rotate the motor.The torque distribution of motors is studied in this paper actually.Firstly,the model of the EMB system is established.Then the state observer is developed to estimate the vehicle states including the vehicle velocity and longitudinal force.Due to the fact that the EMB system is nonlinear and uncertain,a FSMC strategy based on wheel slip ratio is proposed,where both the normal and emergency braking conditions are taken into account.The equivalent control law of sliding mode controller is designed on the basis of the variation of the front axle and rear axle load during the brake process,while the switching control law is adjusted by the fuzzy corrector.The simulation results illustrate that the FSMC strategy has the superior performance,better adaptability to various types of roads,and shorter braking distance,as compared to PID control and traditional sliding mode control technologies.Finally,the hardware-in-loop(HIL)experimental results have exemplified the validation of the developed methodology.展开更多
The servo system actuated by oscillating pneumatic cylinder for X-Y plate is a multi-variable nonlinear control system. Its mathematical model is established, and nonlinear factors are analyzed. Due to the existence o...The servo system actuated by oscillating pneumatic cylinder for X-Y plate is a multi-variable nonlinear control system. Its mathematical model is established, and nonlinear factors are analyzed. Due to the existence of deadlock zone and the small damp of the pneumatic oscillating cylinder, it is likely to result in overshoot, and there is also certain steady-state error, so online modifying of proportion-integration-differentiation （PID） parameters is needed so as to achieve better control performance. Meanwhile considering the stability demand for long-term run, a fuzzy adaptive PID controller is designed. The result of hardware-inloop （HIL） test and real-time control experiment shows that the adaptive PID controller has desirable serfadaptability and robustness to external disturbance and to change of system parameters, and its control per- fonnance is better than that of traditional PID controllers.展开更多
In the paper,a novel self-learning energy management strategy(EMS)is proposed for fuel cell hybrid electric vehicles(FCHEV)to achieve the hydrogen saving and maintain the battery operation.In the EMS,it is proposed to...In the paper,a novel self-learning energy management strategy(EMS)is proposed for fuel cell hybrid electric vehicles(FCHEV)to achieve the hydrogen saving and maintain the battery operation.In the EMS,it is proposed to approximate the EMS policy function with fuzzy inference system(FIS)and learn the policy parameters through policy gradient reinforcement learning(PGRL).Thus,a so-called Fuzzy REINFORCE algorithm is first proposed and studied for EMS problem in the paper.Fuzzy REINFORCE is a model-free method that the EMS agent can learn itself through interactions with environment,which makes it independent of model accuracy,prior knowledge,and expert experience.Meanwhile,to stabilize the training process,a fuzzy baseline function is adopted to approximate the value function based on FIS without affecting the policy gradient direction.More-over,the drawbacks of traditional reinforcement learning such as high computation burden,long convergence time,can also be overcome.The effectiveness of the proposed methods were verified by Hardware-in-Loop ex-periments.The adaptability of the proposed method to the changes of driving conditions and system states is also verified.展开更多
Robustness testing for safety-critical embedded software is still a challenge in its nascent stages. In this paper, we propose a practical methodology and implement an environment by employing model-based robustness t...Robustness testing for safety-critical embedded software is still a challenge in its nascent stages. In this paper, we propose a practical methodology and implement an environment by employing model-based robustness testing for embedded software systems. It is a system-level black-box testing approach in which the fault behaviors of embedded software is triggered with the aid of modelbased fault injection by the support of an executable model-driven hardware-in-loop （HIL） testing environment. The prototype implementation of the robustness testing environment based on the proposed approach is experimentally discussed and illustrated by industrial case studies based on several avionics-embedded software systems. The results show that our proposed and implemented robustness testing method and environment are effective to find more bugs, and reduce burdens of testing engineers to enhance efficiency of testing tasks, especially for testing complex embedded systems.展开更多
文摘The simulation techniques of hardware-in-loop simulation(HLS) of homing antitank missile based on the personal computer (PC) are discussed. The PC and MCS-96 chip controller employ A/D and D/A boards (with photoelectricity isolation) to transfer measur ment and control information about homing head, gyro and rudder and utilize the digital hand shaking board to build correct communication communication protocol. In order to satisfy the real-time requirement of HLS, this paper first simplifies the aerodynamic data file reasonably, then builds a PC software with C language. The program of the controller part is made with PL/M language. The simulation of HLS based on PC is done with the same sampling period of 10ms as that of YH-F1 and the experiment results are identical to those of digital simulation of the homing anti-tank guided missile.
基金Project(20050214001) supported by Doctor Foundation of Education Ministry of ChinaProject(GC05A512) and supported by the Program of Heilongjiang Province Science and Technology, ChinaProject(zjg0702-01) supported by the Natural Science Foundation of Heilongjiang Province, China
文摘A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated by electro hydraulic servo valve-control variable pump according to the surface roughness, load, cutting force, and thermal effects of worktable. The mathematical models of the controllable chamber flow, servo variable mechanism and controller were built. The pose control model was established, which contained the kinematics positive and negative solution and control strategy of feedforward and hydraulic cylinder position feedback. Hardware-in-loop simulation experiment was carried out on the electro hydraulic servo test bench by means of the non-linear relation of film thickness and hydraulic cylinder displacement. Hardware-in-loop simulation experiment results show that the controllable bearings exhibit high oilfilm rigidity, the rising time is 0.24 s and the maximum overshoot is 2.23%, and can be applied in high precision heavy machine tool.
文摘This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.
文摘In order to facilitate the teaching of industrial processes and experiments on the twin-screw extruder control debugging,and be closer to the actual testing,to reduce the debugging costs and the risk of debugging process,the paper designs a hardware-in-loop simulation of twin-screw extruder experiment system which is closer to scene,low cost and high safety.The system through the establishment of twin-screw extruder’s mathematical model on computer to simulate the realistic system and there is hardware practicality in the computer simulation loop.The hardware based on C8051F020 can operate in the simulation loop in real time.In computer software design, we desigh man-machine interface that is intuitive and easy to operate,can reflect twin-screw extruder main operation information vividly.Finally,twin-screw extruder’s 3 heater temperature mathematical model and PID incremental control algorithm are presented.
文摘FSC （Fractionated Spacecraft Cluster） is a kind of loosely distributed space system which is comprised of multiple physically independent spacecrafts orbiting closely and interactively communicating via wireless network. Spaceborne ad-hoc network, as the physical infrastructure for information exchanging, is one of the enabling technologies of FSC. The demonstration of FSC flying supported by ad-hoc network is worth for the sake of proving the rationality of FSC and seeking technological improvements. Considering this, a NNP （Network Node Prototype） for spaceborne ad-hoc network is developed in this paper, which transmits the information required by the FSC cooperation. Four NNPs are then built up and collaborated into a hardware-in-loop simulation system, in which a typical loose satellite cluster flying mission was performed. The simulation results showed that the NNPs can support the inter-satellite communication for satellite cluster flying.
文摘The design of a turbofan rotor speed control system, using model reference adaptive control（MRAC） method with input and output measurements, is discussed for the purpose of practical application. The nonlinear compensator based on functional link neural network is used to deal with the engine nonlinearity and the hardware-in-loop simulation is also developed. The results show that the nonlinear MRAC controller has the adequate performance of compensating and adapting nonlinearity arising from the change of engine state or working environment. Such feature demonstrates potential practical applications of MRAC for aeroengine control system.
文摘Flywheel Energy Storage System (FESS) is used as an energy regeneration system to help with reducing peak power requirements on RTG cranes that are used to load or unload container ships. Nevertheless, with the use of FESS, Port Operator can deploy undersized generator for new RTG as this will further reduce fuel consumption. This paper presents the investigation of the amount of energy and fuel consumption that can be reduced in Rubber Tyred Gantry (RTG) cranes in container terminals by the use of simulation. In addition, Variable Speed Generator is integrated to the simulation-hybridized RTG. Simulation results reveal that the total energy saving exceeded 30% relatively to conventional RTG. A hardware-in-loop system is introduced for the purpose of validating the simulation results. The hardware components procured include a FESS, a Variable Frequency Drive (VFD) and brake resistors.
基金This work was supported by the National Natural Science Foundation of China under Grant[number 51575167]。
文摘This paper focuses on the controller design using fuzzy sliding mode control(FSMC)with application to electro-mechanical brake(EMB)systems using BLDC Motor.The EMB controller transmits the control signal to the motor driver to rotate the motor.The torque distribution of motors is studied in this paper actually.Firstly,the model of the EMB system is established.Then the state observer is developed to estimate the vehicle states including the vehicle velocity and longitudinal force.Due to the fact that the EMB system is nonlinear and uncertain,a FSMC strategy based on wheel slip ratio is proposed,where both the normal and emergency braking conditions are taken into account.The equivalent control law of sliding mode controller is designed on the basis of the variation of the front axle and rear axle load during the brake process,while the switching control law is adjusted by the fuzzy corrector.The simulation results illustrate that the FSMC strategy has the superior performance,better adaptability to various types of roads,and shorter braking distance,as compared to PID control and traditional sliding mode control technologies.Finally,the hardware-in-loop(HIL)experimental results have exemplified the validation of the developed methodology.
基金Supported by Japanese SMC Corporation with contract (No. 05-07)
文摘The servo system actuated by oscillating pneumatic cylinder for X-Y plate is a multi-variable nonlinear control system. Its mathematical model is established, and nonlinear factors are analyzed. Due to the existence of deadlock zone and the small damp of the pneumatic oscillating cylinder, it is likely to result in overshoot, and there is also certain steady-state error, so online modifying of proportion-integration-differentiation （PID） parameters is needed so as to achieve better control performance. Meanwhile considering the stability demand for long-term run, a fuzzy adaptive PID controller is designed. The result of hardware-inloop （HIL） test and real-time control experiment shows that the adaptive PID controller has desirable serfadaptability and robustness to external disturbance and to change of system parameters, and its control per- fonnance is better than that of traditional PID controllers.
基金This work has been supported by the ANR DEAL(contract ANR-20-CE05-0016-01)This work has also been partially funded by Region Sud Provence-Alpes-Cote d’Azur via project AMULTI(2021_02918).
文摘In the paper,a novel self-learning energy management strategy(EMS)is proposed for fuel cell hybrid electric vehicles(FCHEV)to achieve the hydrogen saving and maintain the battery operation.In the EMS,it is proposed to approximate the EMS policy function with fuzzy inference system(FIS)and learn the policy parameters through policy gradient reinforcement learning(PGRL).Thus,a so-called Fuzzy REINFORCE algorithm is first proposed and studied for EMS problem in the paper.Fuzzy REINFORCE is a model-free method that the EMS agent can learn itself through interactions with environment,which makes it independent of model accuracy,prior knowledge,and expert experience.Meanwhile,to stabilize the training process,a fuzzy baseline function is adopted to approximate the value function based on FIS without affecting the policy gradient direction.More-over,the drawbacks of traditional reinforcement learning such as high computation burden,long convergence time,can also be overcome.The effectiveness of the proposed methods were verified by Hardware-in-Loop ex-periments.The adaptability of the proposed method to the changes of driving conditions and system states is also verified.
基金the Aeronautics Science Foundation of China(No.2011ZD51055)Science and Technology on Reliability&Environmental Engineering Laboratory(No.302367)the National Pre-Research Foundation of China(No.51319080201)
文摘Robustness testing for safety-critical embedded software is still a challenge in its nascent stages. In this paper, we propose a practical methodology and implement an environment by employing model-based robustness testing for embedded software systems. It is a system-level black-box testing approach in which the fault behaviors of embedded software is triggered with the aid of modelbased fault injection by the support of an executable model-driven hardware-in-loop （HIL） testing environment. The prototype implementation of the robustness testing environment based on the proposed approach is experimentally discussed and illustrated by industrial case studies based on several avionics-embedded software systems. The results show that our proposed and implemented robustness testing method and environment are effective to find more bugs, and reduce burdens of testing engineers to enhance efficiency of testing tasks, especially for testing complex embedded systems.
