• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.5
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• pp.326-334
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• 2019

Development of Small UAV using HILS (Hardware In the Loop Simulation) can be effectively used to improve the reliability of UAV (Unmanned Aerial Vehicle) while reducing cost and time. It is also possible to reduce the damage to people or property by simulating the malfunction of the Flight Control Computer (FCC) that may occur during the actual flight. For applying such HILS, a real-time simulation environment capable of providing an environment similar to an actual flight condition is required. In this paper, we constructed a real - time HILS environment for Small UAV using 6 D.O.F motion table. In order to link the 6 D.O.F motion table developed in the previous research with the HILS environment in real time, the motion algorithm was changed from the position control method to the velocity control method. Also, we implemented modeling of inverse kinematics model for command transmission in Matlab $Simulink^{(R)}$ and verified the action of motion table according to the simulation model.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2249-2255
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• 2015

The use of voltage source converter multi-terminal direct current (VSC-MTDC) systems is anticipated to increase from the introduction of wind farms and super grids in the near future. Effective control of the DC voltage in VSC-MTDC systems is an important research topic. This paper proposes a new dynamic reference-based voltage droop control to control the DC voltage in VSC-MTDC systems more effectively. The main merit of the dynamic reference-based voltage droop control is that it can reduce the steady-state error in conventional voltage droop control by changing references according to the system operating conditions. The performance of the proposed control was tested in a hardware-in-the-loop simulation (HILS) system based on the OPAL-RT real-time digital simulator and four digital signal processing boards.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.2
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• pp.181-188
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• 2011

A simulation technique, which simulate dynamic motion and communication environments of ship in the lab, is needed in order to reduce the testing cost when we evaluate the transfer alignment performance of shipboard INS. Hardware-In-the-Loop Simulation(HILS) can be used as an effective test method for those system because it can provide flexible and realistic simulation environments, various test scenario, and repeated test environment in the lab without additional cost and person. This paper presents the methods for implementing the real time HILS environment for testing transfer alignment performance of shipboard INS. It includes real time executive for controlling realtime simulation and calculating the ship motion, communication method for interfacing between the systems, and coordinate transformation method for converting real ship coordinate attitude data to lab coordinate attitude data.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.4
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• pp.316-323
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• 2016

A UAV(Unmanned Aerial Vehicle) flies along pre-programed navigation points(in-flight, take-off, or landing) automatically without pilot input. Even though UAVs fly differently from general piloted aircraft as the pilot controls the aircraft from a ground station through means of a data-link system. Occasionally, the data-link connection can be lost for any number of reasons, in which case, the FLCC(Flight control Computer) must automatically switch to autopilot to continue flying. Hence, the FLCC is a flight-critical component that must be throughly tested and validated. This paper discusses the development of a HILS(Hardware in the Loop Simulation) test environment designed to simulate real flight conditions to verify the FLCC satisfies flying quality requirements and maintains robustness despite any potential malfunctions or emergency situations.

• Transactions of The Korea Fluid Power Systems Society
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• v.5 no.4
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• pp.1-9
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• 2008

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 HEV are simulated using an HEV simulator. In the HEV simulator, each element of the HEV powertrain such as internal combustion engine, motor, battery and CVT is modelled using MATLAB/$Simulink^{(R)}$. In the HILS, a driver operates the brake pedal with his 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.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.6
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• pp.143-151
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• 2001

During the past several years, the major interests of car manufacturers in development of automatic transmission were in durability and shift quality. However, a large number of researches for improving shift quality that are based on dynamic characteristics of shifting mechanism have been rarely adopted in the developing process because it is quite difficult to predict the shifting performance from the dynamics simulation. One of the important reasons for the difference between simulation results and experiments arises from the automatic transmission hydraulic system that consists of many valves with high order model and shows a lot different dynamics to temperature variation. In this work, hardware-in-the-loop simulation system for automatic transmission was developed f3r improving the accuracy of simulated result by combining the real-time simulation model with the real hydraulic system. The real-time simulation for automatic transmission model excluding hydraulic system is executed with TI's TMS320C31 DSP and the interfacing board which includes 12bit A/D, PWM signal generator and driver, serial driver ,etc is designed for acquiring the simulation data and signal interface with hydraulic system. We verified the proper operation and correctness of shifting result by comparing the off-line simulation result with that of HILS and experimental result which was performed on transmission dynamometer driven by electric motor.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.85-95
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• 2013

As the conventional hydraulic power steering system in the passenger vehicles is being rapidly replaced by EPS (Electric Power Steering) system, performance evaluation of the EPS system has become an important issue in the automotive industries. But the evaluation process takes significant expertise since steering conditions in the test protocols must be implemented with high accuracy. EPS HILS (Hardware-In the-Loop Simulation) system is developed together with robot steering system in this study. Main components of EPS HILS system include: C-EPS hardware, CarSim vehicle model, and road reaction force generation system powered by servo motor. The robot steering system, operated by another servo motor, was combined with EPS HILS system to substitute for steering efforts of human driver. The road reaction force generation system and the robot steering system were carefully validated by using the data obtained from vehicle tests. An on-center handling test was conducted by using EPS HILS system combined with the robot steering system. In the result of this study, robot-steered EPS HILS system developed with its high reliability and no need of skilled driver's, can be widely adopted to evaluate any performance of EPS system.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1717-1725
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• 2008

In this paper, the HILS system is proposed for the AWS ECU of the bi-modal tram. Using the HILS of the AWS ECU, the behavior of the vehicle can be predicted and the reliability of the AWS system also can be verified. The hardware part of the HILS system includes the ECUs, hydraulic systems, steering linkages and sensors of the bi-modal tram. The software part of the HILS system contains the virtual vehicle model and sensor emulation. Driver input conditions, such as vehicle velocity and front steering angle, are provided to the ECUs by the software. The driving simulation of the bi-modal tram is carried out by the HILS. Also, the reliability of the AWS system, including the ECUs and hydraulic systems, is verified.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.3
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• pp.164-172
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• 2001

Various HILS systems for developing and testing vehicle mechatronic systems have been proposed and constructed during the last few years. However, performance of those systems have not been evaluated in a systematic way. Based on the transfer function approach, this paper presents a method far evaluating performance such as stable dynamic simulation range of a proposed steering HILS system. In the evaluation, we have investigated effects of time delays that exist in the real-time dynamic simulation, additional actuators, and data transmission on the stable dynamic simulation range, simulation frequency range, and steering feel. This evaluation methodology may be useful to help engineers develop a HILS system for their own purposes.

• Journal of Navigation and Port Research
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• v.31 no.5 s.121
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• pp.325-332
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• 2007

This study develops a control algorithm on berthing/unberthing system using a joystick for ships with thrusters and a rudder. A nonlinear mathematical model for low speed maneuvering of typical container ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm for velocity feedback joystick control. Also a virtual HILS(hardware in the loop simulation) software program for berthing/unberthing is developed to test the performance of the nonlinear and a PID control algorithm. The program is developed using LabWindow/CVI, and a user can see current position and desired trajectory of ship in a monitor, then he can control forward and yaw velocities of a ship using a joystick. The simulation results show that the nonlinear mfd the PID controller have superior performance over a simple open loop joystick control algorithm.