Hardware-in-the-loop simulations of an electrohydraulic power steering system for developing the motor speed map of heavy commercial vehicles

Kim, Seong Han,Chu, Chong Nam Professional Engineering Publishing Ltd 2015 Proceedings of the Institution of Mechanical Engin Vol. No.

<P>This study proposes hardware-in-the-loop simulations to develop the motor speed map of electrohydraulic power steering systems for heavy commercial vehicles. The current method that relies on the test driver’s hands and feet to obtain electrohydraulic power steering motor speed maps causes a number of problems, such as inaccurate steering rates and vehicle speeds and the risk of rollover during tests. In order to overcome these weaknesses, this study employs a hardware-in-the-loop simulation system, a vehicle model, and an experimental development method. A hardware-in-the-loop simulation system was set up to simulate a steering system on the road. The system includes a system drive, data acquisition, system controller sets, and an electrohydraulic power steering system. This hardware-in-the-loop simulation system is controlled in real time because the amount of the torque from the resistant torque motor, which applies the self-aligning moments generated between the ground and the tires to the steering system, is affected by the steering angle of the steering-wheel motor. For calculation of the resistant torque with respect to various driving conditions, a vehicle model was employed in this study. It includes calculation of the self-aligning moments with the tire property data, the moments due to the kingpin inclination, the vehicle dynamics, and the steering-system modeling. The resultant values were input into the resistant torque motor. In addition to the hardware-in-the-loop simulation system and the vehicle model, the concept of a desirable steering torque which parameterizes the steering feel was introduced in this study. Using the desirable steering torque, the steering feel could be quantified, and desirable steering feels were established. In this study, in order to validate the hardware-in-the-loop simulations, a heavy commercial vehicle was designated as the target vehicle. The target vehicle’s tire and specifications such as the dimensions, the weight, the steering system, and the mechanical links were adopted, and a desirable steering-torque map was established by a professional test driver. The development results were presented.</P>

Power hardware-in-the-loop simulation (PHILS) of photovoltaic power generation using real-time simulation techniques and power interfaces

Elsevier 2015 Journal of Power Sources Vol.285 No.-

<P><B>Abstract</B></P> <P>Power hardware-in-the-loop simulation (PHILS) has been introduced to its rapid prototyping and accurate testing under various load and interface conditions for power electronics applications. Real-time simulation with advancements in computing technologies can effectively support the PHILS to improve the computation speed of complex target systems converted to electrical and mathematical models. In this paper, advancements of optimized model constructions for a single crystalline photovoltaic (PV) panel are built up for the PHILS with a real-time simulator in the view points of improving dynamic model accuracy and boosting the computation speed. The dynamic model accuracy is one of significant performance factors of the PHILS which should show the dynamic performance of the simulation model during elaborate emulations of the power hardware. In addition, several considerations for the PHILS system such as system configuration and communication are provided to electrically emulate the PV panel with power hardware interfaces. The effectiveness of the proposed PHILS developed on Opal RT's RT-Lab real-time engineering simulator based on Matlab/Simulink is experimentally verified using a prototype PHILS system.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Single crystalline PV panel is electrically modeled for PHILS applications. </LI> <LI> Fast and parallel computations methods are proposed for real-time simulation. </LI> <LI> Model optimization methods are suggested to reduce computation burden. </LI> <LI> Practical digital signal interface is proposed to control power hardware. </LI> <LI> Practical analog power interface is considered for implementing PHILS system. </LI> </UL> </P>

GA급 항공기를 위한 다중센서와 딥러닝 기반 충돌 회피 조종사 보조 시스템 개발 PartⅠ알고리즘 개발 및 검증

RAHIMYMOHAMAD,김세준,김종한,최기영 한국항공우주학회 2024 韓國航空宇宙學會誌 Vol.52 No.4

본 연구에서는 유/무인 항공기을 위한 다중센서와 딥러닝 기반 조종사 보조 시스템의 제작과정을 서술하였다. 총 2개의 Part로 구성되어 있으며 Part 1에서는 개발과정에서 사용되었던 Software-in-the-loop Simulation (SILS)와 Hardware-in-the-loop Simulation (HILS)의 개발과정 및 결과를 서술하였다. Sense and Avoid (SAA) 개념을 정의하고 이용하는 시스템을 구성하기 위하여 광학카메라, 전파고도계, GPS/INS, ADS-B, Radar 모델링을 수행하였으며, 충돌 회피를 수행하기 위한 딥러닝 기반의 알고리즘의 개발과 HILS 장비 구성을 통한 개발 알고리즘 검증과정을 수행하였다. In this study, the manufacturing process of multi-sensors and deep learning based pilot assistance system for manned/unmanned aircraft is described. It consists of a total of two parts, this Part 1 describes the development process and results of Software-in-the-loop Simulation (SILS) and Hardware-in-the-loop Simulation (HILS) used in the development process. Optical cameras, radio altimeters, GPS/INS, ADS-B, and Radar modeling were performed to define and use the Sense and Avoid (SAA) concept. The development of the deep learning-based algorithm and the algorithm verification process through the HILS system is described.

샤시 제어를 위한 VEHSIM용 차량 모델링 기법

김영우(Youngwoo Kim),장진희(Jinhee Jang) 한국자동차공학회 2007 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

In this paper, the vehicle modeling process using VehSim has been studied for chassis control system development. For most motor companies, it is the main task to improve own competitiveness through reducing development time and cost. But, this is difficult because a lot of tests need to achieve good performance and quality. As a solution of this conflict, motor companies try to substitute road tests by simulation. VehSim is the simulation tool modified by GM (General Motors Inc.) based on MSC CarSim. VehSim is mainly used for the vehicle dynamic characteristic simulation in GM. VehSim has a merit on easy use and quick result acquisition with its convenient interface. Also, VehSim can simulate the chassis control system logic like ESC (Electronic Stability Control), EPS (Electronic Power steering), CDC (Continuous Damping Control) using Matlab Simulink<SUP>®</SUP>. Generally, chassis control system and vehicle suspension system have been developed at the same time. Because of this, whenever vehicle suspension system is changed during development, additional time and cost are needed for chassis control system development. VehSim could be an effective tool to reduce this overlapping time and cost. To get the reliable simulation results, the vehicle model in simulation should be built similarly to the real vehicle. In this paper, current vehicle modeling process using VehSim has been specified and studied. Based on this study, it is the final purpose of this paper to contribute to reduce the vehicle development time and cost using reliable simulation result from HILS (Hardware In the Loop System) made up of vehicle model in VehSim as software and chassis control system as hardware.

Hardware-in-the-loop Simulation를 이용한 차량간 거리 제어기 및 스위칭 로직 개발

백운혁(Woonhyuk Baek),송봉섭(Bongsob Song),최정웅(Jung-Woong Choi) 한국자동차공학회 2006 한국자동차공학회 Symposium Vol.- No.-

In this paper, a set of speed and distance controllers and switching logics for Adaptive Cruise Control (ACC) are proposed and the development procedure via hardware-in-loop simulation (HILS) is presented. Since switching between manual and automatic driving, a desired speed, and a desired distance are usually given by a driver discretely and instantaneously, there are always discontinuity or discrete jump between the desired value and current vehicle state just right after the switching. To avoid this phenomenon, Dynamic Surface Control (DSC) with an input shaping filter is applied to both speed and distance control. Furthermore, while much cost and effort are in general required for the experimental validation of ACC, we validate the longitudinal velocity and distance controller via HILS with minimum effort. In the HILS, the various switching scenarios and desired discrete inputs in terms of speed and distance are considered and the corresponding performances of the controller are shown in the end.

항공기용 EOTS 성능분석을 위한 HILS시스템 구축에 관한 연구

천승우(Seungwoo Chun),백운혁(Woonhyuk Baek),라종필(Jongpil La) 한국컴퓨터정보학회 2013 韓國컴퓨터情報學會論文誌 Vol.18 No.12

본 논문에서는 전투기에 탑재되어 지상표적을 추적하고 레이저를 조사하여 레이저유도 폭탄을 유도하는 등의 기능을 수행하는 타겟팅파드의 성능분석 및 검증을 위한 HILS(Hardware In-the-Loop Simulation) 시스템 구축에 대하여설명한다. 타겟팅파드의실시간 성능분석을위해서는 주간카메라와IR카메라의 모의영상생성기술, 서보제어기술 및 레이저 전달 특성 분석기술이 필요하다. 실시간 모의 영상생성과 레이저 전달 특성 분석에는 검증된 상용 소프트웨어 개발 키트(SDK)인 OKTAL-SE를 활용하였고, 서보구동은 실제 유사과제에서 적용된 서보구동의 메커니즘을 적용하여 정확도를 높였다. 또한, 실제 전투기 인터페이스와 동일한 조건의 성능분석을 위하여 1553B, ARINK818 등의 인터페이스를 실제 구현하여 적용하였다. 본 논문에서 구축한 HILS 시스템을 적용하면 현재 운용되는 전투기 장착 탑재전자체의 성능분석과 검증은 물론 실제 장비 개발 중 각 모듈의 성능이 시스템 전체 성능에 미치는 영향도 분석가능하다. 향후 다양한 비행체의 비행역학을 적용하여 광범위한 분야에 활용가능 함으로 개발요구사항 도출 및 개발 위험을 줄이는 데 큰 기여를 할 수 있을 것으로 예상된다. In this paper, the HILS (Hardware In-the-Loop Simulation) system to analyze and to verify the performance of the targeting pod is addressed. The main functions of the targeting pod is acquiring and tracking targets to guide a LGB (Laser Guided Bomb) to the targets. For the analysis of targeting pod, the real time simulate images generation of IR and daylight cameras, sever control technology, and the analysis of laser transfer characteristics are necessary. For the real time image generation and the laser transfer characteristics analysis, off-the-shelf SDK(Software Development Kit) OKTAL-SE is used. For the servo controller, well-proven mechanism in the previous program is applied to increase servo control accuracy. To analyze the performance of a targeting pod in a realistic environment, 1553B, ARINK818 interface and etc. which are actually implemented in real combat aircrafts are applied in the system. By using the developed HILS system, the performance of currently operating targeting pods in real combat aircrafts can be analyzed and predicted. Additionally, the relationship between overall system performance and each module performance can be analyzed, the currently developed HILS system is expected to be a very useful tool to generate system development requirements of targeting pods and to reduce any possible future development risks.

Hardware-in-the-loop Simulation Method for a Wind Farm Controller Using Real Time Digital Simulator

Kim, Gyeong-Hun,Kim, Jong-Yul,Jeon, Jin-Hong,Kim, Seul-Ki,Kim, Eung-Sang,Lee, Ju-Han,Park, Minwon,Yu, In-Keun The Korean Institute of Electrical Engineers 2014 Journal of Electrical Engineering & Technology Vol.9 No.5

A hardware-in-the-loop simulation (HILS) method for a wind farm controller using a real time digital simulator (RTDS) is presented, and performance of the wind farm controller is analyzed. A 100 MW wind farm which includes 5 MW wind power generation systems (WPGS) is modeled and analyzed in RSCAD/RTDS. The wind farm controller is implemented by using a computer, which is connected to the RTDS through transmission control protocol/internet protocol (TCP/IP). The HILS results show the active power and power factor of the wind farm, which are controlled by the wind farm controller. The proposed HILS method in this paper can be effectively utilized to validate and test a wind farm controller under the environment in practice without a real wind farm.

차량 Chassis 특성 변화를 고려한 ESC 성능 평가를 위한 HIL simulator 개발

노지훈(Jihoon Roh),이강원(Kangwon Lee),이종일(Jongil Lee),오승규(Seungkyu Oh),김영우(Youngwoo Kim),김형수(Hyoungsoo Kim),김인동(Indong Kim),장진희(Jinhee Jang) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4

The performance of Electronic Stability Control (ESC) system is greatly influenced by vehicle weight distribution, suspension characteristics and tire performance. Many car maker but develop the vehicle had variety of chassis to meet the various customer requirement of several countries. As these trends, the validation test for ESC performance becomes more complex. Hardware in the loop simulation (HILS) is becoming a useful method for evaluation of Electronic Control Unit (ECU) instead of real vehicle test. HILS is based on the computer simulation included the real ECU in simulation loop. It is useful tool to test and validate these controllers in phase of development and validation. In this study, HIL simulator is developed for ESC performance evaluation considering vehicle parameter change. This paper is organized three sections regarding the configuration of HIL simulator First, hardware design feature and software configuration is described and then automated system is explained as well as presented how to deal with the vehicle parameter in simulation process. Finally, simulation test procedure for the performance evaluation of ESC is presented.

Hardware Simulations of Spacecraft Attitude Synchronization Using Lyapunov-Based Controllers

Juno Jung,박상영,은영호,김성우,박찬덕 한국항공우주학회 2018 International Journal of Aeronautical and Space Sc Vol.19 No.1

In the near future, space missions with multiple spacecraft are expected to replace traditional missions with a single large spacecraft. These spacecraft formation flying missions generally require precise knowledge of relative position and attitude between neighboring agents. In this study, among the several challenging issues, we focus on the technique to control spacecraft attitude synchronization in formation. We develop a number of nonlinear control schemes based on the Lyapunov stability theorem and considering special situations: full-state feedback control, full-state feedback control with unknown inertia parameters, and output feedback control without angular velocity measurements. All the proposed controllers offer absolute and relative control using reaction wheel assembly for both regulator and tracking problems. In addition to the numerical simulations, an air-bearing-based hardware-in-the-loop (HIL) system is used to verify the proposed control laws in real-time hardware environments. The pointing errors converge to 0.5◦ with numerical simulations and to 2◦ using the HIL system. Consequently, both numerical and hardware simulations confirm the performance of the spacecraft attitude synchronization algorithms developed in this study.

DESIGN AND VALIDATION OF A LONGITUDINAL VELOCITY AND DISTANCE CONTROLLER VIA HARDWARE-IN-THE-LOOP SIMULATION

백운혁,송봉섭 한국자동차공학회 2009 International journal of automotive technology Vol.10 No.1

In this paper, a set of longitudinal velocity and distance controllers with switching logic is proposed for an active driver safety system, and validation via hardware-in-the-loop simulation (HILS) is presented. Since the desired velocity and distance are given discretely and arbitrarily by a driver, there are usually discontinuities or discrete jumps between the desired and current vehicle state immediately after the switching. To minimize performance degradation resulting from this discrete jump, dynamic surface control (DSC) with an input-shaping filter is applied for both velocity and distance control. Furthermore, while much cost and effort are usually necessary for the experimental validation of a longitudinal controller, the validation of the longitudinal controller via HILS is performed with a minimum of effort. In the HILS, the various switching scenarios and desired discrete inputs in terms of velocity and distance are considered and the corresponding performance of the controller is shown in the end. In this paper, a set of longitudinal velocity and distance controllers with switching logic is proposed for an active driver safety system, and validation via hardware-in-the-loop simulation (HILS) is presented. Since the desired velocity and distance are given discretely and arbitrarily by a driver, there are usually discontinuities or discrete jumps between the desired and current vehicle state immediately after the switching. To minimize performance degradation resulting from this discrete jump, dynamic surface control (DSC) with an input-shaping filter is applied for both velocity and distance control. Furthermore, while much cost and effort are usually necessary for the experimental validation of a longitudinal controller, the validation of the longitudinal controller via HILS is performed with a minimum of effort. In the HILS, the various switching scenarios and desired discrete inputs in terms of velocity and distance are considered and the corresponding performance of the controller is shown in the end.