• Aerospace Engineering and Technology
• /
• v.3 no.2
• /
• pp.238-247
• /
• 2004

Realtime Simulation and HILS are essential tools for modern aircraft control system design and development. But developing the HILS has been a big and complex task to meet the realtime simulation requirement. So these days there have been efforts to minimize these task. New advanced concept and design tools are being developed. In this paper, these new advanced concept and design tools were used to develop the realtime simulation and HILS environment for rotorcraft. The H/W 문 S/W requirement and system configuration for the developing system will be described on the paper.

• Journal of KIISE:Software and Applications
• /
• v.37 no.4
• /
• pp.311-316
• /
• 2010

Esterel is an imperative synchronous language that is used to develop memories, cache controllers, bus interfaces, and so on. An Esterel statement is called schizophrenic if it is executed more than once in an instant. A schizophrenic statement may cause problems when it is translated to hardware circuits; a circuit performs more than one reaction in a clock. Previous works claim that only local signal declarations and parallel statements may cause schizophrenic problems. However, control signals produced by a trap statement or data signals used by emit statements can cause schizophrenia. They are new schizophrenic patterns. Especially, schizophrenic problems caused by emit statements cannot be solved by a loop unrolling technique that is the key idea of previous curing techniques for schizophrenic problems. In this paper, we introduce and define the two schizophrenic problems.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.17 no.3
• /
• pp.11-17
• /
• 2003

In this paper, we implemented 2-wire (data gnd) RS232C serial communication interface by applying the Collision Sensing Multiple Access(CSMA) Protocol. The transmitting and receiving wires of RS232C pert are connected together by the interface circuit forming data wire without hardware modification On two-wired common channel connection simultaneous transmission Don mere than two hosts causes data collision. The collision is detected by loop-back test of transmission data comparing with the fed back data to detect the data distortion. Various models are adopted to reduce the probability of retransmitted data collision and experiments show the performance of each cases. Due to allowing multiple hosts to be accessed through the common communication channel with minimum circuit addition the result of this paper can be easily applied for conventional RS232C instruments and machines to connect to the single data communication line.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1786-1790
• /
• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.19 no.2
• /
• pp.185-194
• /
• 2016

It is essential for generating the synthetic image to test and evaluate a guided missile system in the hardware-in-the-loop simulation. In order to make the evaluation results to be more reliable, the extent of fidelity and rendering performance of the synthetic image cannot be left ignored. There are numerous challenges to simulate the LWIR sensor signature of sea surface depending on the incident angle, especially in the maritime environment. In this paper, we investigate the key factors in determining the apparent temperature of sea surface and propose the approximate formula consisting of optical characteristics of sea surface and sky radiance. We find that the greater the incident angle increases, the larger the reflectivity of sea surface, and the greater the water vapor concentration in atmosphere increases, the larger the amount of sky radiance. On the basis of this information, we generate the virtual maritime environment in LWIR region using the SE-WORKBENCH, physically based rendering software. The margin of error is under seven percentage points.

• International Journal of Automotive Technology
• /
• v.8 no.2
• /
• pp.211-217
• /
• 2007

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS (Anti-lock Brake System) systems. In realizing the wheel slip control systems, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance and stability enhancement. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm is proposed for maximizing the braking force. An adaptive law is formulated to estimate the braking force in real-time. The wheel slip controller is designed based on the Lyapunov stability theory considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm searches for the optimal target slip value based on the estimated braking force. The performance of the proposed wheel slip control system is verified in HILS (Hardware-In-the-Loop Simulator) experiments and demonstrates the effectiveness of the wheel slip control in various road conditions.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.117-122
• /
• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• Progress in Superconductivity and Cryogenics
• /
• v.25 no.4
• /
• pp.54-59
• /
• 2023

In this paper, we analyze experimental results by applying the PHILS model to a lab-scale superconducting current limiter system for its actual application in medium-voltage direct current (MVDC) systems. Superconducting current limiters exhibit effective current-limiting performance in circuit breaker operations, particularly in limiting large fault currents within a short period, addressing the challenges posed by the increasing use of renewable energy and the integration of DC medium-voltage distribution systems. The development of such superconducting current limiters faces various technical and cost disadvantages, especially when applying a medium-voltage 35kV level system, which is intended for future introduction. The proven lab-scale superconducting current limiter system and the PHILS model are combined and integrated into the actual system. Our plan involves analyzing the limiter's performance, assessing its impact on the system, and preparing for its application in future medium-voltage systems. Utilizing RTDS, a simulation was conducted by connecting actual scaled-down equipment and systems, with the analysis results presented.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.21 no.1
• /
• pp.88-93
• /
• 2016

LCL filters are widely used in high-order harmonics attenuation of output currents in grid-connected inverters. However, output currents of grid-connected inverters with LCL filters can become unstable because of the resonance of the filters. Given that the characteristics of output currents in inverters mostly depend on filter performance, the exact analysis of filters by considering parasitic components is necessary for both harmonics attenuation and current control. LCL filters have three or four parasitic components: the series and/or parallel resistance of the filter capacitor and the series resistance of the two filter inductors. Most studies on LCL filters have focused on the parasitic components of the filter capacitor. Although several studies have addressed the parasitic components of the filter inductor at the inverter side, no study has yet investigated the concurrent effects of series resistance in both filter inductors in detail. This paper analyzes LCL filters by considering series resistance in both filter inductors; it proposes an active damping method based on the virtual series resistance of LCL filters. The performance of the proposed active damping is then verified through both simulation and experiment using Hardware-in-the-Loop Simulator(HILS).

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.9
• /
• pp.881-887
• /
• 2015

The hardware-in-the-loop simulation (HILS) of a railway vehicle is crucial for overcoming the limitation of field tests of a railway vehicle. A brake HILS system for a railway vehicle was previously not able to test the performance of a speed-sensing system of a railway vehicle, since wheelset speeds were generated only by computer simulations. In this paper, we present a novel wheelset speed implementation of a brake HILS system for a railway vehicle. Four wheelset speeds of a brake HILS system for a car of a railway vehicle are implemented using four small-sized servomotors, whereas the speed sensors and pole wheels used in the brake HILS system are the actual ones of the railway vehicle. According to the simulated speeds of four wheelsets in the dynamic equations of motion, four servomotors generate wheel speeds in real time, and then the measured wheelset speeds are fed back to the computer simulation model. Moreover, in this paper, we improve the performance of wheelset speed measurement via the T method instead of the M method presently used in the field. The performances of wheelset speed implementation and speed-sensor operation are demonstrated by experimental works using a HILS system.