Rail vehicle control system integration testing using digital hardware-in-the-loop simulation

Abstract

Control systems for converter-controlled rail vehicles are orders of magnitude more complex than controllers for previous generations of vehicles. While the dynamic behavior of previous generations of vehicles was to a large extent determined by its power components alone, an important part of the dynamics of modern vehicles is shaped by real-time software, distributed computing and intercontroller communication. To ensure proper operation of the vehicle on track, an integration test of the vehicle control system is performed before initial roll-out. In order to achieve a maximum test depth and to minimize risk and cost, this test is achieved by connecting the original vehicle control system to a real-time dynamic vehicle simulator in closed-loop operation. The present paper describes concept, evaluation, and operation of a digital hardware-in-the-loop simulator for testing control-relevant parts of the vehicle. Particular emphasis is put on the hybrid nature of the underlying simulation problem and its inherent causality variations due to the combination of discrete switching effects, e.g., in diodes and controlled converters, with continuous system parts, e.g., differential equations for currents or mechanical system parts.

Model-Based Fault Analysis for Railway Traction Systems

“…The methodology is based on models and an HIL platform, following the fault injection approach presented in Section 3.2.2. In the literature, most of the work presented about HIL platforms was focused on the development and validation of new control strategies and embedded units [27][28][29] and in some cases, authors mention the use of such platforms for the analysis of specific faults [30][31][32][33]. Nevertheless, it is difficult to find publications where an HIL platform is used systematically in the analysis of fault modes and effects of a system.…”

A Model-in-the-Loop Interface to Emulate Source Dynamics in a Zonal DC Distribution System

“…The advantages of using HIL as a design step (as opposed to starting with actual hardware) include reduced cost, availability of the system, and the ability to test operating states (damaged, faulted, etc) that may not be permitted with hardware. The uses of HIL technologies to analyze and design the monitoring and control subsystems of interconnected power systems are well documented [1]- [5]. In [1] an HIL system is designed to test the controls for an electrical locomotive propulsion system.…”

“…The uses of HIL technologies to analyze and design the monitoring and control subsystems of interconnected power systems are well documented [1]- [5]. In [1] an HIL system is designed to test the controls for an electrical locomotive propulsion system. In [2], a real-time model of a three-phase ideal-source rectifier is interfaced with a controller that is used to establish thryistor gate signals.…”

Stabilization of Induction Motor Drives With Poorly Damped Input Filters

“…The inverter and induction motors are relatively well defined by mathematical models, and the simulation results show good agreement with power laboratory measurements. These kinds of simulations for traction applications have prior been presented in, for example, [22] and allow for much faster and more flexible experiments compared to using a real drive.…”

“…This is not a problem as the magnitude of the admittance is small enough not to cause any problems at those speeds (|Y Z dc | < 1). In order to obtain the admittance (22), it follows from (21) that the stabilization controller should be chosen as…”