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.

Hardware-In-the-Loop Simulation for Development of Fin Stabilizer

Yoon, Hyeon Kyu,Lee, Gyeong Joong Korean Society of Ocean Engineers 2013 International journal of ocean system engineering Vol.3 No.1

A ship cruising in the ocean oscillates continuously due to wave action. In order to reduce the ship's roll, we developed a fin stabilizer as an anti-rolling device for a 500-ton-class high-speed marine vessel. During the development phase, it was necessary to set up control gains for the motion and hydraulic systems and assess the effectiveness of the anti-rolling performance on the ground. For this reason, a Target Simulator, which simulated the ship's motion, was given operator inputs such as the engine telegraph and waterjet deflection angle, and generated roll using a one-degree-of-freedom motion base. Hardware-In-the-Loop Simulation (HILS) was performed using the Target Simulator in order to confirm the various logics of the developed fin stabilizer, select initial control gains, and estimate the anti-rolling performance. In conclusion, it was confirmed that HILS was very helpful to develop the fin stabilizer because it could reduce the number of sea trial tests that were needed and could find many malfunctions in the factory a priori.

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.

DEVELOPMENT OF HARDWARE-IN-THE-LOOP SIMULATION SYSTEM AS A TESTBENCH FOR ESP UNIT

Lee, S.J.,Park, K.,Hwang, T.H.,Hwang, J.H.,Jung, Y.C.,Kim, Y.J. The Korean Society of Automotive Engineers 2007 International journal of automotive technology Vol.8 No.2

As the vehicle electronic control technology quickly grows and becomes more sophisticated, a more efficient means than the traditional in-vehicle driving test is required for the design, testing, and tuning of electronic control units (ECU). For this purpose, the hardware-in-the-loop simulation (HILS) scheme is very promising, since significant portions of actual driving test procedures can be replaced by HIL simulation. The HILS incorporates hardware components in the numerical simulation environment, and this yields results with better credibility than pure numerical simulations can offer. In this study, a HILS system has been developed for ESP (Electronic Stability Program) ECUs. The system consists of the hardware component, which that includes the hydraulic brake mechanism and an ESP ECU, the software component, which virtually implements vehicle dynamics with visualization, and the interface component, which links these two parts together. The validity of HIL simulation is largely contingent upon the accuracy of the vehicle model. To account for this, the HILS system in this research used the commercial software CarSim to generate a detailed full vehicle model, and its parameters were set by using design data, SPMD (Suspension Parameter Measurement Device) data, and data from actual vehicle tests. Using the developed HILS system, performance of a commercial ESP ECU was evaluated for a virtual vehicle under various driving conditions. This HILS system, with its reliability, will be used in various applications that include durability testing, benchmarking and comparison of commercial ECUs, and detection of fault and malfunction of ESP ECUs.

회생제동 전자제어 유압모듈을 이용한 하이브리드 차량의 에너지 회수 알고리즘 개발

여훈(H. Yeo),김현수(H. S. Kim),황성호(S. H. Hwang) 유공압건설기계학회 2008 드라이브·컨트롤 Vol.5 No.4

In this paper, an energy regeneration algorithm is proposed to make the maximum use of the regenerative braking energy for a parallel hybrid electric vehicle(HEV) equipped with a continuous variable transmission(CVT). The regenerative algorithm is developed by considering the battery state of charge(SOC), vehicle velocity and motor capacity. The hydraulic module consists of a reducing valve and a power unit to supply the front wheel brake pressure according to the control algorithm. In order to evaluate the performance of the regenerative braking algorithm and the hydraulic module, a hardware-in-the-loop simulation (HILS) is performed. In the HILS system, the brake system consists of four wheel brakes and the hydraulic module. Dynamic characteristics of the HEY are simulated using an HEY simulator. In the HEY simulator, each element of the HEY powertrain such as internal combustion engine, motor, battery and CVT is modelled using MATLAB/Simulink<SUP>®</SUP>. In the HILS, a driver operates the brake pedal with Ius or her foot while the vehicle speed is displayed on the monitor in real time. It is found from the HILS that the regenerative braking algorithm and the hydraulic module suggested in this paper provide a satisfactory braking performance in tracking the driving schedule and maintaining the battery state of charge.

FPGA Board를 적용한 ZVS DC-DC Converter의 HIL Simulation 구현

강래청(Raecheong Kang),정기윤(Kiyun Jeong),김세현(Sehyun Kim),양인범(Inbeom Yang) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11

The components of green-car are changed enormously by various power systems consisted of an engine and electric motors. Therefore, virtual integrated development environment is needed for modeling, performance evaluation and fault insertion test in a green car platform. Real-time simulation, hardware-in-the-loop, can be available to compose test environment for development and evaluation of electric components. The signal interface between the HIL simulator and a DC-DC converter is developed by designing appropriate wire harness and signal matching. Performance evaluation of the converter is conducted to show the feasibility of the HIL simulator at the virtual test environment. Several different scenarios are implemented and tested by the HIL simulator in real-time. The HIL simulator is also applied to the reliability and fault insertion tests such as extreme temperature test and over current test. HIL simulator generates fault signals on purpose in order to evaluate controller output signals at an abnormal mode. In this paper, the simulation environment is presented by developing Simulink models and compiling in the FPGAs board. The control board of the DC-DC converter is made and tested by the HIL simulation. The connection parts of the control board of the DC-DC converter are modified to communicate to the HIL simulator. To validate the safety at the abnormal situation, a variety of test scenarios can be simulated.

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.

ESC시스템을 위한 Dry Type HILS (Hardware in the Loop Simulation) 개발

손창현(Changhyun Son),이동환(Donghwan Yi),임병호(Byungho Im),이세진(Sejin Lee) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11

HILS test method is generally useful for the ESC system validation. Recently trends in development of the ESC system are the rapid development of the software such as VAFs(Value Added Functions), and the integrated chassis control system development. The dry type HILS is the effective method to validate ESC system without the HCU hardware during quickly proceeding with the development process, and the interaction of the integrated chassis system without the each actuator hardware. In this paper the dry type HILS for the ESC system is proposed with the direct measurement approach of ECU coil’s current and the motor BEMF voltage control simulator. The paper investigates the dry type HILS system design based on the important technology, and the designed dry type HILS is verified though the simulation using real ECU. Also, in order to verify the coil’s current measurement reliability, the measurement result is compared to oscilloscope data.

자동변속기용 임베디드 시스템 성능 시험을 위한 Hardware-in-the-Loop 시뮬레이터 구축

장인규(In-Gyu Jang),서인근(Inkeun Seo),전재욱(Jaewook Jeon),황성호(Sung-Ho Hwang) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.3

Drivers are becoming more fatigued and uncomfortable with increase in traffic density, and this condition can lead to slower reaction time. Consequently, they may face the danger of traffic accidents due to their inability to cope with frequent gear shifting. To reduce this risk, some drivers prefer automatic transmission (AT) over manual transmission (MT). The AT offers more superior drivability and less shifting shock than the MT; therefore, the AT market share has been increasing. The AT is controlled by an electronic control unit (ECU), which provides better shifting performance. The transmission control unit (TCU) is a higher-value-added product, so the companies that have advanced technologies end to evade technology transfer. With more cars gradually using the ECU, the TCU is expected to be faster and more efficient for organic communication and arithmetic processing between the control systems than the l6-bit controller. In this paper, the model of an automatic transmission vehicle using MATLAB/Simulink is developed for the Hardware in-the-Loop (HIL) simulation with a 32-bit embedded system, and also the AT control logic for shifting is developed by using MATLAB/Simulink. The developed AT control logic, transformed automatically by real time workshop toolbox, is loaded to a 32-bit embedded system platform based on Freescale"s MPC565. With both vehicle model and 32-bit embedded system platform, we make the HIL simulation system and HIL simulation of AT based on real time operating system (RTOS) is performed. According to the simulation results, the developed HIL simulator will be used for the performance test of embedded system for AT with low cost and effort.

ABS/VDC 검증을 위한 RT 모델 기반 EILS 개발

윤영환(Y. H. Yoon),조재설(J. S. Cho),양기영(G. Y. Yang),이용범(Y. B. Lee) 유공압건설기계학회 2019 유공압건설기계학회 학술대회논문집 Vol.2019 No.6

The development of Safety control system [ABS / VDC] can be reduced development cost and time by Simulation Techniques which can pre-verify various requirements and design specifications at the initial development’s stage. Simulation techniques can be classified into MILs, SILs, and HILs. HILs is a technology designed to be developed at the same level as real systems by combining it with real hardware to improve the inaccuracies of pure simulation techniques such as MILs and SILs. However, in the case of commercial vehicles which are having many wheels and axes. So there are limitations in establishing HILs environment for verifying and developing commercial vehicle’s Safety control systems. In this study, we propose a development method to convert actual pneumatic brake system into RT [Real time] model through the Analytical Model. Also, we propose RT-based EILs [ECU In-the Loop Simulation] which provides equivalent environment to HILs by replacing actual hardware with RT model.