共查询到20条相似文献,搜索用时 109 毫秒
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介绍空间交会对接和对接半物理仿真的概念,以空间交会对接综合实验台为研究对象,分析其大回路控制系统的基本组成环节和完成的功能;进一步,根据地面半物理仿真台大回路系统在对接各阶段的结构,研究了大回路控制系统的3种不同控制模式的工作原理,给出其控制方框图,提出了特定条件下各控制模式的特点。 相似文献
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基于快速仿真原型的飞行器半物理仿真系统 总被引:2,自引:3,他引:2
设计了基于快速仿真原型技术的大闭环半物理飞行实时仿真系统。地面半物理仿真实验由动力学仿真、视景仿真和飞行控制等分系统组成,通过光纤反射内存网络高速互连。基于层次化、模块化的建模原则在Matlab/Simulink环境下建立了飞行器数学仿真模型;在此基础上,利用相应硬件驱动模块完成了系统半物理仿真模型;最后,以某制导飞行器为背景,利用实际参数进行了数学和半物理仿真实验。与飞行实验比较,射程相对偏差为2.3%,最大高度相对偏差为0.85%,仿真结果证明了建模理论和方法的合理性和有效性。 相似文献
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设计了基于快速原型技术的大闭环半物理飞行实时仿真系统。地面半物理仿真实验由动力学仿真、视景仿真和飞行控制等分系统组成,通过光纤反射内存网络高速互连。首先基于层次化、模块化的建模原则在Matlab/Simulink环境下建立了飞行器数学仿真模型;在此基础上,利用相应硬件驱动模块完成了系统半物理仿真模型;最后以某制导飞行器为背景,利用实际参数进行了数学和半物理仿真实验,与飞行实验比较,射程相对偏差为2.3%,最大高度相对偏差为0.85%,仿真结果证明了建模理论和方法的合理性和有效性。 相似文献
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基于滚动轴承的动力学理论,建立了圆柱滚子轴承的非线性动力学微分方程组,使用希尔伯特-修斯-泰勒(Hilber-Hughes-Taylor,HHT)变步长积分算法对其动力学微分方程组进行对称多线程(Symmetric multi-processing,SMP)并行求解,联合机械系统动力学自动分析软件ADAMS、控制仿真软件Matlab/Simulink搭建了圆柱滚子轴承的半物理仿真试验系统,实现了圆柱滚子轴承动力学仿真系统与物理试验机之间的信息交换,进而对滚动轴承的半物理仿真试验技术进行了探索与研究。该研究结果为滚动轴承的半物理仿真试验技术提供了一条可行的技术路线,能够对轴承的试验结果进行补充,为滚动轴承的半物理仿真试验技术提供借鉴与参考。 相似文献
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飞行器制导控制半实物系统采样步长的优化设计 总被引:3,自引:1,他引:2
为了提高飞行器制导控制系统半实物仿真的仿真精度,提出通过合理选择采样步长,优化仿真实时性来协调系统计算能力与仿真精度之间关系的思想。建立了制导控制半实物仿真系统的模型,依据采样控制原理推论出约束半实物仿真采样步长的主要条件。依据优化原则,建立了满足数值计算精度及稳定性的约束条件,推导出优化的采样步长。最后,对制导控制系统进行半实物仿真。系统软件采用C语言编写了飞行器的六自由度运动方程,硬件为三轴转台系统和Vxworks操作系统的嵌入式仿真机,并在转台内框加入陀螺实现稳定控制。结果表明,在优化设计的采样步长1 ms下,系统的实时性能够满足制导控制仿真精度及稳定性要求。在不增加系统软硬件负担的情况下,提升了半实物系统的置信度。 相似文献
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Nowadays validation of anti-lock braking systems(ABS) relies mainly on a large amount of road tests.An alternative means with higher efficiency is employing the hardware-in-the-loop simulation(HILS) system to substitute part of road tests for designing,testing,and tuning electronic control units(ECUs) of ABS.Most HILS systems for ABS use expensive digital signal processor hardware and special purpose software,and some fail-safe functions with regard to wheel speeds cannot be evaluated since artificial wheel speed signals are usually provided.In this paper,a low-cost ABS HILS test bench is developed and used for validating the anti-lock braking performance and tuning control parameters of ABS controllers.Another important merit of the proposed test bench is that it can comprehensively evaluate the fail-safe functions with regard to wheel speed signals since real tone rings and sensors are integrated in the bench.A 5-DOF vehicle model with consideration of longitudinal load transfer is used to calculate tire forces,wheel speeds and vehicle speed.Each of the four real-time wheel speed signal generators consists of a servo motor plus a ring gear,which has sufficient dynamic response ability to emulate the rapid changes of the wheel speeds under strict braking conditions of very slippery roads.The simulation of braking tests under different road adhesion coefficients using the HILS test bench is run,and results show that it can evaluate the anti-lock braking performance of ABS and partly the fail-safe functions.This HILS system can also be used in such applications as durability test,benchmarking and comparison between different ECUs.The test bench developed not only has a relatively low cost,but also can be used to validate the wheel speed-related ECU design and all its fail-safe functions,and a rapid testing and proving platform with a high efficiency for research and development of the automotive ABS is therefore provided. 相似文献
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依据叉车工作泵的压力大小分为空载、满载、半载3种工况,计算叉车输入特性、输出特性和牵引特性,据此建立了以油门开度、车速和油泵压力为控制参数的三参数换挡规律;设计了基于dSPACE的实车快速控制原型试验,验证了换挡控制策略和执行机构策略;设计了自动变速器控制器(TCU)样机和硬件在环仿真试验台,进行了基于dSPACE的硬件在环试验,验证了控制策略在TCU样机中的控制效果。试验结果表明:基于dSPACE开发的TCU满足性能要求,并能提高开发效率,可为叉车自动变速器控制器的开发提供参考。 相似文献
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介绍了dSPACE实时仿真系统及其在纯电动汽车实验台系统上的一体化解决方案,结合纯电动汽车的ABS控制实时仿真,阐述了基于dSPACE的控制系统设计方法中快速控制原型RCP和硬件在回路仿真HILS的应用。 相似文献
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M. Rezaei Darestani M. Zareh J. Roshanian A. Khaki Sedigh 《Journal of Mechanical Science and Technology》2011,25(2):523-536
The reliability of an intelligent self tuning controller called the brain emotional learning based intelligent controller
(BELBIC) to attitude control of a nonlinear launch vehicle (LV) simulation with hardware-in-the loop simulation (HILS) is
studied. To set up the HIL system of the LV a six-degree of freedom simulation of the LV and a hydraulic actuator, which was
used for the pitch channel thrust vector control (TVC) actuator of the LV, is performed. The results of the BELBIC controller
with a fuzzy controller (FC) and a PID controller in this HILS of the LV to control the pitch channel of the LV have been
compared. 相似文献
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汽车电动助力转向硬件在环仿真系统设计 总被引:3,自引:0,他引:3
采用在PC机上虚拟汽车行驶状态,DSP系统根据行车状态实现适时加栽任务,高性能单片机系统实现助力控制。通过对这3个模块的具体设计分析,对自行设计的汽车电动助力转向硬件在环仿真系统进行了全面的介绍,并给出了系统仿真流程。 相似文献
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利用MATLAB/Simlink硬件在环仿真系统,结合现有电动助力转向系统,独立设计并建造出一套经实践证明有效的电动助力转向控制策略评估系统。并且利用该系统对比例控制和微分(PD)控制两种控制策略进行了测试和评估。 相似文献
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Kunsoo Huh Daegun Hong Jeffrey L. Stein 《Journal of Mechanical Science and Technology》2005,19(11):1998-2006
The lane departure avoidance systems have been considered promising to assist human drivers in AVCS (Advanced Vehicle Control
System). In this paper, a lane departure monitoring and control system is developed and evaluated in the hardware-in-the-loop
simulations. This system consists of lane sensing, lane departure monitoring and active steering control subsystems. The road
image is obtained based on a vision sensor and the lane parameters are estimated using image processing and Kalman Filter
technique. The active steering controller for avoiding the lane departure is designed based on the lane departure metric.
The proposed lane departure avoidance system is realized in a steering HILS (hardware-in-the-loop simulation) tool and its
performance is evaluated with a driver in the loop. 相似文献
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ACTIVE FRONT STEERING DURING BRAKING PROCESS 总被引:3,自引:0,他引:3
CHEN Deling CHEN Li YIN Chengliang ZHANG Yong 《机械工程学报(英文版)》2008,21(4):64-70
An active front steering (AFS) intervention control during braking for vehicle stability is presented. Based on the investigation of AFS mechanism, a simplified model of steering system is established and integrated with vehicle model. Then the AFS control on vehicle handling dynamics during braking is designed. Due to the difficulties associated with the sideslip angle measurement of vehicle, a state observer is designed to provide real time estimation. Thereafter, the controller with the feedback of both sideslip and yaw angle is implemented. To evaluate the system control, the proposed AFS controlled vehicle has been tested in the Hardware-in-the-loop-simulation (HILS) system and compared with that of conventional vehicle. Results show that AFS can improve vehicle lateral stability effectively without reducing the braking performance. 相似文献