Smith predictor compensation and fuzzy incremental control for delay of space docking hardware-in-the-loop simulation system

2021 ◽  
pp. 095441002110533
Author(s):  
Simiao Yu ◽  
Junwei Han ◽  
Wenming Zhang ◽  
Dongmei Xu
Keyword(s):  
Dynamic Response ◽  
Force Sensor ◽  
Parallel Robot ◽  
Simulation System ◽  
Smith Predictor ◽  
Control Methods ◽  
Hardware In The Loop ◽  
First Order ◽  
First Order Phase ◽  
Hil Simulation

Hardware-in-the-loop (HIL) simulation for space manipulator docking is an important means to simulate real space docking on the ground. The HIL simulation system in this paper utilizes the contact force measured by force sensor to calculate the dynamics of the mechanisms, and the docking process is simulated by the parallel robot. The measurement delay of force sensor and dynamic response delay of the parallel robot are inevitable, which not only affect the accuracy of simulation but also lead to the instability of the HIL simulation system. The traditional first-order phase compensation is the most commonly used force sensor compensator; but when the force changes with a high frequency, its compensation effect becomes bad, which will lead to the divergence of the HIL simulation system. Most control methods of the parallel robot are based on the model of the parallel robot, but the forces of the parallel robot are complex during the docking process, and the system parameters, motion frequency, and dynamic response characteristics are time-varying; thus, it is difficult to design the controller based on the model. In this paper, the Smith predictor compensation (SPC) method and fuzzy incremental control (FIC) method are utilized to decrease the delays of the force sensor and parallel robot, respectively. The effectiveness of the Smith predictor compensation and fuzzy incremental control method in reducing the delay of the HIL system and in improving the stability of the system is verified by simulation and experiment; compared with the traditional first-order phase compensation and proportional-integral-differential control methods, the advantages of the proposed methods are illustrated. The research in this paper provides an important technical means for accurately simulating the real docking process.

scholarly journals Design and Implementation of a Hardware-in-the-Loop Simulation System for a Tilt Trirotor UAV

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Li Yu ◽  
Guang He ◽  
Shulong Zhao ◽  
Xiangke Wang ◽  
Lincheng Shen
Keyword(s):  
Simulation System ◽  
Theory And Practice ◽  
Hardware In The Loop ◽  
Verification Method ◽  
Transition Strategy ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
And Control ◽  
Flight Model ◽  
Hil Simulation

The tilt trirotor unmanned aerial vehicle (UAV) is a novel aircraft that has broad application prospects in transportation. However, the development progress of the aircraft is slow due to the complicated control system and the high cost of the flight experiment. This work attempts to overcome the problem by developing a hardware-in-the-loop (HIL) simulation system based on a heavily developed and commercially available flight simulator X-Plane. First, the tilt trirotor UAV configuration and dynamic model are presented, and the parameters are obtained by conducting identification experiments. Second, taking the configuration of the aircraft into account, a control scheme composed of the mode transition strategy, hierarchical controller, and control allocation is proposed. Third, a full-scale flight model of the prototype is designed in X-Plane, and an interface program is completed for connecting the autopilot and X-Plane. Then, the HIL simulation system that consists of the autopilot, ground control station, and X-Plane is developed. Finally, the results of the HIL simulation and flight experiments are presented and compared. The results show that the HIL simulation system can be an efficient tool for verifying the performance of the proposed control scheme for the tilt trirotor UAV. The work contributes to narrowing the gap between theory and practice and provides an alternative verification method for the tilt trirotor UAV.

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

2011 ◽  
Vol 201-203 ◽  
pp. 2063-2069
Author(s):  
Jia Lin Xu ◽  
Guo Kun Zuo ◽  
Jian Hua Chen
Keyword(s):  
System Modeling ◽  
Digital Simulation ◽  
Simulation System ◽  
Hardware In The Loop ◽  
Temperature Controller ◽  
Real Process ◽  
Modeling Analysis ◽  
Development Cycle ◽  
Xpc Target ◽  
Hil Simulation

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.

scholarly journals Hardware in the Loop Simulation and Control Design for Autonomous Free Running Ship Models

2020 ◽  
Vol 70 (4) ◽  
pp. 469-476
Author(s):  
Awanish Chandra Dubey ◽  
Anantha V Subramanian
Keyword(s):  
Real Time ◽  
Control Design ◽  
Hardware In The Loop ◽  
Control Logic ◽  
Combined System ◽  
Plant Model ◽  
First Order ◽  
Ship Hydrodynamic ◽  
Free Running ◽  
Hil Simulation

This paper presents an hardware-in-the-loop (HIL) simulation system tool to test and validate an autonomous free running model system for ship hydrodynamic studies with a view to verification of the code, the control logic and system peripherals. The computer simulation of the plant model in real-time computer does not require the actual physical system and reduces the development cost and time for control design and testing purposes. The HIL system includes: the actual programmable embedded controller along with peripherals and a plant model virtually simulated in a real-time computer. With regard to ship controller design for ship model testing, this study describes a plant model for surge and a Nomoto first order steering dynamics, both implemented using Simulink software suit. The surge model captures a quasi-steady state relationship between surge speed and the propeller rpms, obtained from simple forward speed towing tank tests or derived analytically. The Nomoto first order steering dynamics is obtained by performing the standard turning circle test at model scale. The control logic obtained is embedded in a NI-cRIO based controller. The surge and steering dynamics models are used to design a proportional-derivative controller and an LQR controller. The controller runs a Linux based real-time operating system programmed using LabVIEW software. The HIL simulation tool allows for the emulation of standard ship hydrodynamic tests consisting of straight line, turning circle and zigzag to validate the combined system performance, prior to actual for use in the autonomous free-running tests.

Hardware-In-The-Loop (HIL) Simulation Used for Testing Actuation System of a 2-DOF Parallel Robot

2012 ◽  
Vol 162 ◽  
pp. 334-343 ◽  
Author(s):  
Ciprian Rad ◽  
Vistrian Maties ◽  
Olimpiu Hancu ◽  
Ciprian Lapusan
Keyword(s):  
Numerical Models ◽  
Parallel Robot ◽  
Engineering System ◽  
Hardware In The Loop ◽  
Mechatronic Systems ◽  
Complete Representation ◽  
Target Model ◽  
Actuation System ◽  
Dedicated Hardware ◽  
Hil Simulation

This paper focuses on the subject of Hardware-in-the-Loop (HIL) simulations from mechatronic systems design perspective. HIL is a real-time simulation where real subsystem parts of a complex engineering system are coupled together with the numerical models of the remaining subsystems to form its complete representation. In a HIL simulation there are three main components: simulated components, dedicated hardware systems and real components. An impediment in using this method is the high cost of necessary hardware. The paper presents an economical alternative to existing dedicated hardware systems by using the development board FiO Std. Using this board, a HIL simulation aimed at analyzing the control and actuation system of a 2-DOF parallel robot is presented in this paper. The HIL simulation includes two models: a target model (running on FiO Std board) and a host model (running on MATLAB/Simulink). The dynamic model of the robot mechanical structure (simulated part) is implemented in host model and then coupled together with two servo-motors (real parts) through target model to form a complete representation of the studied system.

Morphological studies of linear (AB)n multiblock copolymers and their blends

1992 ◽  
Vol 50 (1) ◽  
pp. 384-385
Author(s):  
Richard J. Spontak ◽  
Steven D. Smith ◽  
Arman Ashraf
Keyword(s):  
Electron Microscopy ◽  
Microphase Separation ◽  
Multiblock Copolymers ◽  
First Order ◽  
Morphological Studies ◽  
Transmission Electron ◽  
First Order Phase Transition ◽  
Covalently Bonded ◽  
Total Molecular Weight ◽  
First Order Phase

Block copolymers are composed of sequences of dissimilar chemical moieties covalently bonded together. If the block lengths of each component are sufficiently long and the blocks are thermodynamically incompatible, these materials are capable of undergoing microphase separation, a weak first-order phase transition which results in the formation of an ordered microstructural network. Most efforts designed to elucidate the phase and configurational behavior in these copolymers have focused on the simple AB and ABA designs. Few studies have thus far targeted the perfectly-alternating multiblock (AB)n architecture. In this work, two series of neat (AB)n copolymers have been synthesized from styrene and isoprene monomers at a composition of 50 wt% polystyrene (PS). In Set I, the total molecular weight is held constant while the number of AB block pairs (n) is increased from one to four (which results in shorter blocks). Set II consists of materials in which the block lengths are held constant and n is varied again from one to four (which results in longer chains). Transmission electron microscopy (TEM) has been employed here to investigate the morphologies and phase behavior of these materials and their blends.

scholarly journals Electric properties of olive oil under pressure

2021 ◽  
Author(s):  
L. T. Pawlicki ◽  
R. M. Siegoczyński ◽  
S. Ptasznik ◽  
K. Marszałek
Keyword(s):  
Molecular Structure ◽  
Phase Transition ◽  
Phase Diagram ◽  
Phase Transitions ◽  
Olive Oil ◽  
Material Parameters ◽  
First Order ◽  
Long Time ◽  
Capacitive Reactance ◽  
First Order Phase

AbstractThe main purpose of the experiment was a thermodynamic research with use of the electric methods chosen. The substance examined was olive oil. The paper presents the resistance, capacitive reactance, relative permittivity and resistivity of olive. Compression was applied with two mean velocities up to 450 MPa. The results were shown as functions of pressure and time and depicted on the impedance phase diagram. The three first order phase transitions have been detected. All the changes in material parameters were observed during phase transitions. The material parameters measured turned out to be the much more sensitive long-time phase transition factors than temperature. The values of material parameters and their dependence on pressure and time were compared with the molecular structure, arrangement of molecules and interactions between them. Knowledge about olive oil parameters change with pressure and its phase transitions is very important for olive oil production and conservation.

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