Verification of unmanned underwater vehicle with velocity over 10 knots guidance control system based on hardware in the loop simulation

Hwang, Arom; Yoon, Sung-Hoon; Kim, Tae-Yeong; Kwon, Dong H.; Choi, Chunho; Cho, Hyeonjin

doi:10.23919/oceans.2009.5422227

Cited by 5 publications

(2 citation statements)

References 7 publications

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“…The hardware-in-the-loop simulation technique allows testing a controller with simulated environment instead of a real plant, which improves the development of the systems with restrictions on cost, duration, safety, and feasibility. So far, HIL simulation has been used in various disciplines, such as automotive systems [10,11], power electronics [12,13], robotics [14,15], unmanned vehicles [16,17], and so on.…”

Section: Discussionmentioning

confidence: 99%

Testing flight software on the ground: Introducing the hardware-in-the-loop simulation method to the Alpha Magnetic Spectrometer on the International Space Station

Sun

Cai

Meng

2016

Nuclear Instruments and Methods in Physics Research Section A:

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Complex automatic protection functions are being added to the onboard software of the Alpha Magnetic Spectrometer. A hardware-in-the-loop simulation method has been introduced to overcome the difficulties of ground testing that are brought by hardware and environmental limitations. We invented a time-saving approach by reusing the flight data as the data source of the simulation system instead of mathematical models. This is easy to implement and it works efficiently. This paper presents the system framework, implementation details and some application examples.

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Section: Discussionmentioning

confidence: 99%

Testing flight software on the ground: Introducing the hardware-in-the-loop simulation method to the Alpha Magnetic Spectrometer on the International Space Station

Sun

Cai

Meng

2016

Nuclear Instruments and Methods in Physics Research Section A:

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“…The first use of analog HIL was to simulate the airplane flight by a pilot 8 . Later the digital HIL became popular in field of Aircraft and aerospace 9,10 industries, vehicle systems 11,12 , power systems 13 , robotics 14 and marine systems 15,16 . The technique is to place the hardware in the loop with the plant model running in real-time computer and study the motion behaviour of the model for various inputs.…”

Section: Introductionmentioning

confidence: 99%

Hardware in the Loop Simulation and Control Design for Autonomous Free Running Ship Models

Dubey

Subramanian

2020

Def. Sc. Jl.

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This paper presents an hardware-in-the-loop (HIL) simulation system tool to test and validate an autonomous free running model system for ship hydrodynamic studies with a view to verification of the code, the control logic and system peripherals. The computer simulation of the plant model in real-time computer does not require the actual physical system and reduces the development cost and time for control design and testing purposes. The HIL system includes: the actual programmable embedded controller along with peripherals and a plant model virtually simulated in a real-time computer. With regard to ship controller design for ship model testing, this study describes a plant model for surge and a Nomoto first order steering dynamics, both implemented using Simulink software suit. The surge model captures a quasi-steady state relationship between surge speed and the propeller rpms, obtained from simple forward speed towing tank tests or derived analytically. The Nomoto first order steering dynamics is obtained by performing the standard turning circle test at model scale. The control logic obtained is embedded in a NI-cRIO based controller. The surge and steering dynamics models are used to design a proportional-derivative controller and an LQR controller. The controller runs a Linux based real-time operating system programmed using LabVIEW software. The HIL simulation tool allows for the emulation of standard ship hydrodynamic tests consisting of straight line, turning circle and zigzag to validate the combined system performance, prior to actual for use in the autonomous free-running tests.

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ROS-based Hardware-in-the-Loop Simulation Framework for Fish-Inspired Robot for Safe Control Gain Tuning

Verma,

Ojha,

Sharma

et al. 2023

2023 IEEE 7th Conference on Information and Communication Technology (CICT)

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Verification of unmanned underwater vehicle with velocity over 10 knots guidance control system based on hardware in the loop simulation

Cited by 5 publications

References 7 publications

Testing flight software on the ground: Introducing the hardware-in-the-loop simulation method to the Alpha Magnetic Spectrometer on the International Space Station

Testing flight software on the ground: Introducing the hardware-in-the-loop simulation method to the Alpha Magnetic Spectrometer on the International Space Station

Hardware in the Loop Simulation and Control Design for Autonomous Free Running Ship Models

ROS-based Hardware-in-the-Loop Simulation Framework for Fish-Inspired Robot for Safe Control Gain Tuning

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