Active Disturbance Rejection Control in fully distributed Automatic Generation Control with co-simulation of communication delay

This paper compares Active Disturbance Rejection Control (ADRC), Proportional–Integral (PI) and ultra-local adaptive controller (also labeled intelligent-PID) when applied to Automatic Generation Control (AGC) for a multi-area power system with co-simulation of the communication system. The co-simulation platform PiccSIM integrates Simulink/Matlab and Network Simulator Ver. 2 (NS2) with real-time simulation data exchanged through Local Area Network (LAN). Instead of the traditional control center, automatic generation controller is embedded in each participating generation unit locally to avoid communication delay for the control signals. This new control scheme is referred to as fully distributed AGC. The performance of the proposed scheme is tested on a nonlinear model of New England (NE) 39-bus system with the co-simulated tie-line power flow communication delays. The simulation results present very promising performance and good robustness of ADRC in the presence of communication delays, suggesting that the stability of the overall cyber–physical system is enhanced significantly.     

Efficient co-simulation framework enhancing system-level power estimation for a platform-based SoC design

This paper proposes a hardware–software (HW-SW) co-simulation framework that provides a unified system-level power estimation platform for analyzing efficiently both the total power consumption of the target SoC and the power profiles of its individual components. The proposed approach employs the trace-based technique that reflects the real-time behavior of the target SoC by applying various operation scenarios to the high-level model of target SoC. The trace data together with corresponding look-up table (LUT) is utilized for the power analysis. The trace data is also used to reduce the number of input vectors required to analyze the power consumption of large H/W designs through the trade-offs between the signal probability in the trace results and its effect on the power consumption. The effect of cache miss on power, occurring in the S/W program execution, is also considered in the proposed framework. The performance of the proposed approach was evaluated through the case study using the SoC design example of IEEE 802.11a wireless LAN modem. The case study illustrated that, by providing fast and accurate power analysis results, the proposed approach can enable SoC designers to manage the power consumption effectively through the reconstruction of the target SoC. The proposed framework maps all hardware IPs into FPGA. The trace based approach gets input vectors at transactor of the each IP and gets power consumption indexing a LUT. This hardware oriented technique reports the power estimation result faster than the conventional ones doing it at S/W level.     

某型兵器发射塔架摆杆系统机液耦合动力学仿真研究

以某型兵器发射塔架摆杆系统为研究对象,采用基于软件接口的协同仿真策略,拟定了动力学协同仿真方案。利用MSC.ADAMS和Easy5仿真软件建立了塔架摆杆系统的机液耦合仿真模型。通过仿真,得到塔架摆杆系统的受力及运动情况,并与试验数据进行对比,验证了该联合建模方法的有效性和实用性,并提出了解决塔架摆杆系统工作时速度波动问题的方法。     

铁道车辆液压减振器联合仿真模型的构建及其试验验证

分析了单向流液压减振器的工作原理、阀系特性及液压流体力学理论。以高速列车KONI横向减振器为例,参照其结构及其参数值在Easy5环境下建立了减振器液压控制模型。利用Easy5和ADAMS联合仿真接口技术,在考虑减振器节点刚度的条件下,建立了减振器的Maxwell联合仿真模型。将减振器性能仿真和试验结果进行对比分析,结果表明所建立的减振器联合模型精确可靠。     

基于刚柔耦合建模的挖掘机动态性能仿真研究

针对挖掘机工作装置刚柔耦合变形对液压控制系统动态特性的影响，结合虚拟样机建模和联合仿真技术进行动态特性研究。利用UG软件建立某型号挖掘机三维模型，通过有限元软件柔性化处理后导入ADAMS动力学分析软件中，构建挖掘机工作装置刚柔耦合虚拟样机。利用AMESim软件和负载敏感原理，建立挖掘机工作装置闭环液压控制系统。通过软件联合构造挖掘机机电液一体化的刚柔耦合仿真模型。针对挖掘机典型挖掘工况和重载举升工况下的运动轨迹进行仿真研究，结果表明：基于刚柔耦合建模的挖掘机液压控制系统动态稳定性较强，重载工况最大位置误差小于0.01 m,位置精度较高，实现了挖掘机刚柔耦合一体化建模仿真。     

Co-simulation research of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms

Legged exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable mechanical legs that support heavy loads. The exoskeleton-type system is a nonlinear system with uncertainty of parameters, which is not easy to be identified with traditional mathematical model. This paper presents co-simulations of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms, which do not need the precise model. The lower extremity exoskeleton model with series–parallel topology was briefly described and the gait characteristics were analyzed. The co-simulation method integrates ADAMS and MATLAB/SIMULINK with fuzzy-PID/PID algorithms, which were used to develop the control schematic of the exoskeleton-human robot system. Finally, co-simulations of humanoid gaits and movements, which include level walking, stair ascent, stair descent, side kick, squatting down and standing up, were provided to confirm the performances and effectiveness of the proposed control approach.     

A Case Study in Embedded Systems Design: An Engine Control Unit

A number of techniques and software toolsfor embedded system design have been recently proposed. However,the current practice in the designer community is heavily basedon manual techniques and on past experience rather than on arigorous approach to design. To advance the state of the artit is important to address a number of relevant design problemsand solve them to demonstrate the power of the new approaches.We chose an industrial example in automotive electronics to validateour design methodology: an existing commercially available EngineControl Unit. We discuss in detail the specification, the implementationphilosophy, and the architectural trade-off analysis. We analyzethe results obtained with our approach and compare them withthe existing design underlining the advantages offered by a systematicapproach to embedded system design in terms of performance anddesign time.     

适用于数字锁相环的快速建模方法

为解决数字锁相环基于晶体管级仿真速度慢的问题,提出一种适用于数字锁相环的快速高精度建模方法。该方法直接利用数字模块的设计代码作为输入的仿真文件,并根据Spice仿真结果用Verilog-A对模拟模块进行建模。由于Verilog设计代码能够准确的描述数字模块性能,而Verilog-A模型对模拟模块的各种电路特性都能准确模拟,因此该模型的仿真精度非常高。最终以一种数字锁相环结构为例建立数模混合模型进行仿真,验证了该设计方法的可行性和有效性。     

基于迭代学习的6-DOF平台控制与仿真研究

在建立某型模拟器平台动力学模型的基础上,提出一种迭代学习控制(ILC)算法。通过多体系统动力学分析软件ADAMS建立虚拟样机模型,运用Matlab/Simulink建立控制策略模型,利用接口文件将两者结合起来进行机械系统与控制系统的联合仿真。结果表明:联合仿真具有较好的直观性和分析的快速性,验证了迭代学习控制策略的优越性,对控制器的设计与验证具有重要的借鉴意义。     

基于刚柔耦合的数控铣齿机床动态特性分析

高效成型数控铣齿机床中的结合面对铣齿机的动态性能有很大影响,因此,研究铣齿机结合面的动态特性是准确预测铣齿机结构特性,提高其性能的前提条件。针对大型数控铣齿机床系统建模的复杂性,提出了基于多种软件(Pro/E、ANSYS与ADAMS)集成的刚-柔耦合建模技术,用弹簧阻尼单元模拟了铣齿机结合面,通过ADAMS/Vibration模块求解了系统在稳定切削过程中主轴箱的振动频率和模态振型,并用LMS噪声振动仪器进行了工况测试,仿真结果与实测结果相吻合,从而为铣齿机的结构优化奠定了基础。