Development and model-based transparency analysis of an Internet-distributed hardware-in-the-loop simulation platform

Ersal, Tulga; Brudnak, Mark; Salvi, Ashwin; Stein, Jeffrey L.; Filipi, Zoran; Fathy, Hosam K.

doi:10.1016/j.mechatronics.2010.08.002

Cited by 44 publications

(28 citation statements)

References 52 publications

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“…A negative aspect of distributed simulation is that delays are introduced which is an undesired property. The combination of distributed systems with real-time requirements present a particular challenge and techniques have been developed to deal with such set-ups in (Goodell et al 2006) and (Ersal et al 2011).…”

Section: Distributed Simulationmentioning

confidence: 99%

Extensions for Distributed Moving Base Driving Simulators

Andersson¹

2017

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Modern vehicles are complex systems. Different design stages for such a complex system include evaluation using models and submodels, hardwarein-the-loop systems and complete vehicles. Once a vehicle is delivered to the market evaluation continues by the public. One kind of tool that can be used during many stages of a vehicle lifecycle is driving simulators.The use of driving simulators with a human driver is commonly focused on driver behavior. In a high fidelity moving base driving simulator it is possible to provide realistic and repetitive driving situations using distinctive features such as: physical modelling of driven vehicle, a moving base, a physical cabin interface and an audio and visual representation of the driving environment. A desired but difficult goal to achieve using a moving base driving simulator is to have behavioral validity. In other words, "A driver in a moving base driving simulator should have the same driving behavior as he or she would have during the same driving task in a real vehicle.".In this thesis the focus is on high fidelity moving base driving simulators. The main target is to improve the behavior validity or to maintain behavior validity while adding complexity to the simulator. One main assumption in this thesis is that systems closer to the final product provide better accuracy and are perceived better if properly integrated. Thus, the approach in this thesis is to try to ease incorporation of such systems using combinations of the methods hardware-in-the-loop and distributed simulation. Hardware-inthe-loop is a method where hardware is interfaced into a software controlled environment/simulation. Distributed simulation is a method where parts of a simulation at physically different locations are connected together. For some simulator laboratories distributed simulation is the only feasible option since some hardware cannot be moved in an easy way.Results presented in this thesis show that a complete vehicle or hardwarein-the-loop test laboratory can successfully be connected to a moving base driving simulator. Further, it is demonstrated that using a framework for distributed simulation eases communication and integration due to standardized interfaces. One identified potential problem is complexity in interface wrappers when integrating hardware-in-the-loop in a distributed simulation framework. From this aspect, it is important to consider the model design and the intersections between software and hardware models. Another important issue discussed is the increased delay in overhead time when using a framework for distributed simulation.

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Section: Distributed Simulationmentioning

confidence: 99%

Extensions for Distributed Moving Base Driving Simulators

Andersson¹

2017

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“…The purpose of such a setup is to try to improve the driving experience in Sim III and at the same time the vehicle mounted in the chassis dynamometer is experiencing more realistic loads due to that the driver's perception of the simulation is closer to reality. Previous work used an internet-distributed hardware-in-the-loop simulation of an engine test bench and a ride motion simulator (Ersal et al, 2011). The co-simulation is made possible with the development of a pedal robot that actuates the driver's input in the moving base simulator to the mounted vehicle.…”

Section: Test Platforms For Evaluation Of Vehiclesmentioning

confidence: 99%

Evaluation, Generation, and Transformation of Driving Cycles

Nyberg

2015

Linköping Studies in Science and Technology. Dissertations

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Driving cycles are important components for evaluation and design of vehicles. They determine the focus of vehicle manufacturers, and indirectly they affect the environmental impact of vehicles since the vehicle control system is usually tuned to one or several driving cycles. Thus, the driving cycle affects the design of the vehicle since cost, fuel consumption, and emissions all depend on the driving cycle used for design. Since the existing standard driving cycles cannot keep up with the changing road infrastructure, the changing vehicle fleet composition, and the growing number of vehicles on the road, which do all cause changes in the driver behavior, the need to get new and representative driving cycles are increasing. A research question is how to generate these new driving cycles so that they are both representative and at the same time have certain equivalence properties, to make fair comparisons of the performance results. Besides generation, another possibility to get more driving cycles is to transform the existing ones into new, different, driving cycles considering equivalence constraints.With the development of new powertrain concepts the need for evaluation will increase, and an interesting question is how to utilize new developments in dynamometer technology together with new possibilities for connecting equipment. Here a pedal robot is developed to be used in a vehicle mounted in a chassis dynamometer and the setup is used for co-simulation together with a moving base simulator that is connected with a communication line. The results show that the co-simulation can become a realistic driving experience and a viable option for dangerous tests and a complement to tests on a dedicated track or on-road tests, if improvements on the braking and the vehicle feedback to the driver are implemented.The problem of generating representative driving cycles, with specified excitation at the wheels, is approached with a combined two-step method. A Markov chain approach is used to generate candidate driving cycles that are then transformed to equivalent driving cycles with respect to the mean tractive force components, which are the used measures. Using an optimization methodology the transformation of driving cycles is formulated as a nonlinear program with constraints and a cost function to minimize. The nonlinear program formulation can handle a wide range of constraints, e.g., the mean tractive force components, different power measures, or available energy for recuperation, and using the vehicle jerk as cost function gives good drivability.In conclusion, methods for driving cycle design have been proposed where new driving cycles can either be generated from databases, or given driving cycles can be transformed to fulfill certain equivalence constraints, approaching the important problem of similar but not the same. The combination of these approaches yields a stochastic and general method to generate driving cycles with equivalence properties that can be used at several instances during the prod...

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“…The Data.mdb central database is a Microsoft Access file containing the Schedule Database and Resource Database. Figure 3 shows the Target Application Architecture, which enables the system to be both modular and turn-key, qualities that are missing in the current state-of-the-art brought in the literature Emami, 2008, 2011) (Ersal, et al, 2011) (Singaraju, et al, 2006). This architecture is composed of three interconnected subsystems: Target PC, Hardware-in-the-loop Platform and Manufacture Supplied Test Motors, and is the interface between the virtual Server Software Application and the physical Motor Test Platform hardware.…”

Section: Server Software Applicationmentioning

confidence: 99%

“…The University of Michigan and TARDEC connected two distinct HIL systems via the Internet to evaluate automotive powertrain systems (Ersal, et al, 2011). The University of Alaska Fairbanks developed a HIL simulation of a PUMA 560 that was remotely accessible, enabling the remote development of control algorithms (Singaraju, et al, 2006).…”

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confidence: 99%

A modular and turn-key remote-access hardware-in-the-loop platform for testing electric motors

Tedesco

Emami

2014

JAMDSM

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This paper details the architecture, hardware and software of a platform for testing electric motors over the Internet that enables users to test multiple physical motors remotely under the specific loading conditions of the real-world application for which a motor is required. The system is divided into three major modules: the Server Software Application, the Target Software Application and the Motor Test Platform. The system is unique as it combines modularity, scalability and deliverability. It is modular, as it is capable of readily testing a variety of electric motors, scalable, as new motors can be quickly added to the system for testing, and is turn-key, easily deployed and installed. The proof-of-concept prototype was developed and examined against benchmark tests to determine its capabilities. The platform was effective as a remote access emulation and evaluation tool. Keywords IntroductionRemote experimentation and testing is an emerging technology in both the academia and industry. There have been several remote access experimental setups developed in universities around the globe, including Massachusetts Institute of Technology (del Alamo, et al., 2005), University of California, San Diego (Travelyan, 2004), University of Essex, UK (Hu, et al., 2001), and University of Toronto (Helander and Emami, 2008). The University of Western Australia has made its remotely-operated robotic manipulator open to the public, i.e., anyone is free to register (Elgamal, et al., 2005). In the industry, despite a number of applications, remote access technology is still not fully (2004) live video streaming of the system is included to monitor the progress. Few works appear to harness remote access for industrial testing and design purposes. Ericsson's Virtual Lab is one such remote access testing system applied to software for the development and testing of Java applets for use on its cell phones prior to the release of the phone (Sony Ericson, 2007). This paper presents the design of a modular and turn-key hardware-in-the-loop platform for remote-testing electric motors. The torque-speed characteristics are crucial factors when selecting an electric motor for a specific application (Poulin, 1984). In both open-loop and closed-loop (servo) applications, the loading condition on a motor critically affects its dynamic response, efficiency, and power consumption, and the effect varies widely at different speeds. Current performance charts available to customers to assist them in finding a suitable selection are based on limited benchmark testing. Hence, not every possible load profile is actually tested to generate the performance charts. Instead, certain loads are applied to the motor to determine the corresponding performance, and the results of the benchmarking are fitted to generate the torque-speed characteristic curves. Consequent to these restrictions, the existing

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Development and model-based transparency analysis of an Internet-distributed hardware-in-the-loop simulation platform

Cited by 44 publications

References 52 publications

Extensions for Distributed Moving Base Driving Simulators

Extensions for Distributed Moving Base Driving Simulators

Evaluation, Generation, and Transformation of Driving Cycles

A modular and turn-key remote-access hardware-in-the-loop platform for testing electric motors

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