scholarly journals MATLAB BASED HIL FRAMEWORK: A GUIDE TO BUILD A HARDWARE IN THE LOOP DAQ PERIPHERAL

2021 ◽  
Vol 03 (03) ◽  
pp. 58-68
Author(s):  
Hassan M. BAYRAM ◽  
Bilal A. MUBDIR
Keyword(s):  
Real Time ◽  
Serial Communication ◽  
Simulation Software ◽  
Hardware In The Loop ◽  
Worst Case ◽  
Software Applications ◽  
Small Delay ◽  
Time Test ◽  
Research And Education ◽  
Microcontroller Unit

Testing and validating modern hardware such as some subsystems in modern vehicles is a little challenging especially before assembling them into the final product. To achieve a valid real-time test, the tested hardware or unit must be placed into its real-time environment which is not possible in some cases. Recently, and with the presence of advanced simulation software applications, the hardware environment could be simulated easily to fulfill the real-time test properly. Simulating an environment in one loop with real physical hardware knowing as Hardware-in-the-loop is used nowadays in various development fields, medical, industrial, research, and education. Amongst the aforementioned, HIL is widely used in control systems applications. In the paper, building a framework to enable hardware in the loop (HIL) simulation with the aid of MATLAB/Simulink is discussed. Over serial communication, and inexpensive data acquisition (DAQ) peripheral has been developed using a microcontroller unit. the development of the framework is discussed to be used as a guide for building it by using any microcontroller. The resultant performance appeal to excellent real-time response with quite a small delay of about 70ms in the worst case.

SimuMANET

2012 ◽  
pp. 408-443
Author(s):  
Ana Vazquez Alejos ◽  
Paula Gómez Pérez ◽  
Manuel Garcia Sanchez ◽  
Muhammad Dawood
Keyword(s):  
Real Time ◽  
Ad Hoc ◽  
Field Tests ◽  
Traffic Monitoring ◽  
Simulation Software ◽  
Communication Layer ◽  
Network Traffic Monitoring ◽  
Hoc Networks ◽  
Research And Education ◽  
Network Status

Simulation software in MANET research is vital. Such a tool provides a versatile mechanism to understand all the involved aspects of these particular systems, from the radio interface to the last communication layer. In this chapter, the authors present the SimuMANET project, a tool for both simulation and field tests purpose. It allows the deployment of wireless reconfigurable ad-hoc networks and MANETs, assisted by a real-time graphical user interface (GUI) for network traffic monitoring and management of radio electric features of the links established between the active network nodes. Due to a set of functionalities, such as GUI, network topology visualization, traffic and motion pattern configuration, and real-time network status analysis, the simulator introduced here becomes a valid tool for both research and education targets. Two scenarios with different types of motion and traffic are simulated using the SimuMANET tool, and the results are shown and commented to illustrate some capabilities of this software.

A Hardware-in-the-Loop Platform for a Typical Construction Machinery Real-Time Test

2013 ◽  
Vol 392 ◽  
pp. 535-538
Author(s):  
Wen Gong ◽  
Zhong Jian Yu
Keyword(s):  
Real Time ◽  
Dynamic Model ◽  
Low Cost ◽  
Hydraulic Excavator ◽  
Hardware In The Loop ◽  
Time System ◽  
Real Time System ◽  
Construction Machinery ◽  
Time Test ◽  
Simulation Results

In order to supply a reliable and low-cost method for construction machinery real-time test, take a hydraulic excavator for example. Especially for testing controllers and evaluating the performance of strategies, a hardware-in-the loop platform has been developed based on the xPC real-time system. The hardware-in-the-loop system, including dynamic model of the excavator and an 3D real-time display subsystem, is presented in this paper. The simulation results are also described at the end of the paper.

scholarly journals Modeling of Deadtime Events in Power Converters with Half-Bridge Modules for a Highly Accurate Hardware-in-the-Loop Fixed Point Implementation in FPGA

2021 ◽  
Vol 11 (14) ◽  
pp. 6490
Author(s):  
Roberto Saralegui ◽  
Alberto Sanchez ◽  
Angel de Castro
Keyword(s):  
Fixed Point ◽  
Real Time ◽  
Power Converters ◽  
Power Converter ◽  
Hardware In The Loop ◽  
Kutta Method ◽  
Time Step ◽  
Worst Case ◽  
Runge Kutta Method ◽  
Runge Kutta

Hardware-in-the-loop (HIL) simulations of power converters must achieve a truthful representation in real time with simulation steps on the order of microseconds or tens of nanoseconds. The numerical solution for the differential equations that model the state of the converter can be calculated using the fourth-order Runge–Kutta method, which is notably more accurate than Euler methods. However, when the mathematical error due to the solver is drastically reduced, other sources of error arise. In the case of converters that use deadtimes to control the switches, such as any power converter including half-bridge modules, the inductor current reaching zero during deadtimes generates a model error large enough to offset the advantages of the Runge–Kutta method. A specific model is needed for such events. In this paper, an approximation is proposed, where the time step is divided into two semi-steps. This serves to recover the accuracy of the calculations at the expense of needing a division operation. A fixed-point implementation in VHDL is proposed, reusing a block along several calculation cycles to compute the needed parameters for the Runge–Kutta method. The implementation in a low-cost field-programmable gate arrays (FPGA) (Xilinx Artix-7) achieves an integration time of 1μs. The calculation errors are six orders of magnitude smaller for both capacitor voltage and inductor current for the worst case, the one where the current reaches zero during the deadtimes in 78% of the simulated cycles. The accuracy achieved with the proposed fixed point implementation is very close to that of 64-bit floating point and can operate in real time with a resolution of 1μs. Therefore, the results show that this approach is suitable for modeling converters based on half-bridge modules by using FPGAs. This solution is intended for easy integration into any HIL system, including commercial HIL systems, showing that its application even with relatively high integration steps (1μs) surpasses the results of techniques with even faster integration steps that do not take these events into account.

A Highly Efficient and Optimised Simulation Based Multi objective Decision-Making for FMS Control

2018 ◽  
Vol 6 (6) ◽  
pp. 98
Author(s):  
Shreyanshu Parhi ◽  
S. C. Srivastava
Keyword(s):  
Decision Making ◽  
Real Time ◽  
Manufacturing Industry ◽  
Simulation Software ◽  
Shop Floor ◽  
Simulation Tool ◽  
Routing Flexibility ◽  
Decision System ◽  
Multi Objective ◽  
Arena Simulation

Optimized and efficient decision-making systems is the burning topic of research in modern manufacturing industry. The aforesaid statement is validated by the fact that the limitations of traditional decision-making system compresses the length and breadth of multi-objective decision-system application in FMS.  The bright area of FMS with more complexity in control and reduced simpler configuration plays a vital role in decision-making domain. The decision-making process consists of various activities such as collection of data from shop floor; appealing the decision-making activity; evaluation of alternatives and finally execution of best decisions. While studying and identifying a suitable decision-making approach the key critical factors such as decision automation levels, routing flexibility levels and control strategies are also considered. This paper investigates the cordial relation between the system ideality and process response time with various prospective of decision-making approaches responsible for shop-floor control of FMS. These cases are implemented to a real-time FMS problem and it is solved using ARENA simulation tool. ARENA is a simulation software that is used to calculate the industrial problems by creating a virtual shop floor environment. This proposed topology is being validated in real time solution of FMS problems with and without implementation of decision system in ARENA simulation tool. The real-time FMS problem is considered under the case of full routing flexibility. Finally, the comparative analysis of the results is done graphically and conclusion is drawn.

scholarly journals Power Hardware-in-the-Loop-Based Performance Analysis of Different Converter Controllers for Fast Active Power Regulation in Low-Inertia Power Systems

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3274
Author(s):  
Jose Rueda Torres ◽  
Zameer Ahmad ◽  
Nidarshan Veera Kumar ◽  
Elyas Rakhshani ◽  
Ebrahim Adabi ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Power Systems ◽  
Real Time ◽  
Control Strategies ◽  
Active Power ◽  
Power Electronic ◽  
Hardware In The Loop ◽  
Digital Controllers ◽  
Power Regulation ◽  
The Impact

Future electrical power systems will be dominated by power electronic converters, which are deployed for the integration of renewable power plants, responsive demand, and different types of storage systems. The stability of such systems will strongly depend on the control strategies attached to the converters. In this context, laboratory-scale setups are becoming the key tools for prototyping and evaluating the performance and robustness of different converter technologies and control strategies. The performance evaluation of control strategies for dynamic frequency support using fast active power regulation (FAPR) requires the urgent development of a suitable power hardware-in-the-loop (PHIL) setup. In this paper, the most prominent emerging types of FAPR are selected and studied: droop-based FAPR, droop derivative-based FAPR, and virtual synchronous power (VSP)-based FAPR. A novel setup for PHIL-based performance evaluation of these strategies is proposed. The setup combines the advanced modeling and simulation functions of a real-time digital simulation platform (RTDS), an external programmable unit to implement the studied FAPR control strategies as digital controllers, and actual hardware. The hardware setup consists of a grid emulator to recreate the dynamic response as seen from the interface bus of the grid side converter of a power electronic-interfaced device (e.g., type-IV wind turbines), and a mockup voltage source converter (VSC, i.e., a device under test (DUT)). The DUT is virtually interfaced to one high-voltage bus of the electromagnetic transient (EMT) representation of a variant of the IEEE 9 bus test system, which has been modified to consider an operating condition with 52% of the total supply provided by wind power generation. The selected and programmed FAPR strategies are applied to the DUT, with the ultimate goal of ascertaining its feasibility and effectiveness with respect to the pure software-based EMT representation performed in real time. Particularly, the time-varying response of the active power injection by each FAPR control strategy and the impact on the instantaneous frequency excursions occurring in the frequency containment periods are analyzed. The performed tests show the degree of improvements on both the rate-of-change-of-frequency (RoCoF) and the maximum frequency excursion (e.g., nadir).

Design and development of a backstepping controller autopilot for fixed-wing UAVs

2021 ◽  
pp. 1-27
Author(s):  
D. Sartori ◽  
F. Quagliotti ◽  
M.J. Rutherford ◽  
K.P. Valavanis
Keyword(s):  
Real Time ◽  
Control Law ◽  
Parametric Uncertainties ◽  
Hardware In The Loop ◽  
Aircraft Control ◽  
Backstepping Approach ◽  
Small Uav ◽  
Backstepping Controller ◽  
Definition Of ◽  
Performance Results

Abstract Backstepping represents a promising control law for fixed-wing Unmanned Aerial Vehicles (UAVs). Its non-linearity and its adaptation capabilities guarantee adequate control performance over the whole flight envelope, even when the aircraft model is affected by parametric uncertainties. In the literature, several works apply backstepping controllers to various aspects of fixed-wing UAV flight. Unfortunately, many of them have not been implemented in a real-time controller, and only few attempt simultaneous longitudinal and lateral–directional aircraft control. In this paper, an existing backstepping approach able to control longitudinal and lateral–directional motions is adapted for the definition of a control strategy suitable for small UAV autopilots. Rapidly changing inner-loop variables are controlled with non-adaptive backstepping, while slower outer loop navigation variables are Proportional–Integral–Derivative (PID) controlled. The controller is evaluated through numerical simulations for two very diverse fixed-wing aircraft performing complex manoeuvres. The controller behaviour with model parametric uncertainties or in presence of noise is also tested. The performance results of a real-time implementation on a microcontroller are evaluated through hardware-in-the-loop simulation.

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