Advanced Control Algorithms for a Horizontal Three-Phase Separator in a Hardware in the Loop Simulation Environment

A new PC-based hardware-in-the-loop simulation (HILS) platform is developed for designing an automotive engine control system. The HILS equipment consists of a widely used PC and commercial off-the-shelf (COTS) I/O boards instead of a powerful computing system and custom-made I/O boards. These features make the HILS equipment more cost effective and flexible. The HILS uses an automatic code generation extension, REAL-TIME WORKSHOP® of the MATLAB® tool-chain, which is one of the standard tools for modelling and off-line simulation in the area of controller design. This helps the control system developers to handle the controlled-object model more easily and to test the control system more comfortably and time effectively. The mean value engine model, which is used in the control design phase, is imported in this HILS. The engine model is supplemented with some I/O subsystems and I/O boards to interface actual input and output signals in real time. The I/O subsystems are designed to synchronize the status of the engine model with the control system as well as to convert the raw data of the I/O boards to the appropriate forms for proper interfaces. To prove the feasibilities of the proposed environment, a pilot project for the development of an air-to-fuel ratio control system is carried out. The HILS environment is proved to be an efficient tool to develop various control functions and to validate the software and hardware of the engine control system.

Chapter 4 - Three-Phase Oil and Water Separators

Electric load simulator (ELS) plays a vital role in the ground test and simulation of the electromechanical actuator (EMA) of an unmanned aerial vehicle (UAV), which is preferred by researchers for its dynamic response and high precision. However, clearance is an inevitable problem of the ELS system which can introduce backlash influencing the stability of the system. The backlash nonlinear can induce mechanical impact and impose limitations on the quality of loading torque control. In order to increase the accuracy of loading torque, a switching control method is presented to compensate for the backlash nonlinear. A time-optimal sliding mode control (TOSMC) method is used when the ELS system entering backlash, and a nonlinear proportional integral derivative (PID) controller is presented for the different system dynamic. A switching controller is also introduced to acquire suitable moment switching from TOSMC to nonlinear PID controller, ensuring the stability of the system. Experimental tests show that compared with the traditional PID control, this method can effectively reduce the torque overshoot when ELS crossing backlash and guarantee torque tracking speed and precision of ELS.

In this paper a Power Hardware in the loop simulation has been realized to test in a safely way the performances and reliability of a device called “PowerCorner” used to supply an islanded microgrid. A real-time model has been developed in order to simulate the microgrid, batteries and photovoltaic panels. Some modeling criterions have been proposed to reduce time-step simulation and enhancing the Power Hardware in the loop simulation stability. Power Hardware in the loop simulation is used to emulate the AC and DC environments around the power inverters. On the DC side, DC power amplifier is used to emulate photovoltaic power plants and storage devices made on Lithium batteries. On the AC side, AC power amplifier is used to emulate the behavior of the microgrid. These two power amplifiers are controlled by a digital real time simulator which embeds the dynamic behavior of both DC and AC sides.

A fractional-order fuzzy proportional integral derivative (PID) controller is a controller that combines the benefits of fractional calculus and fuzzy logic with the conventional PID controller. In this paper, a four-stage optimization algorithm is proposed for the design of a Type-2 Fuzzy fractional-order PID controller based on the Fourier Series Method (FSM). Three distinct control structures are introduced: Type-2 fuzzy fractional PD + fractional PI controller, Type-2 fuzzy fractional PID, and Type-2 fuzzy fractional PD + Type-2 fuzzy fractional PI controller. In addition to a modified multi-performance criterion cost function, four integral performance criteria are employed as cost functions for each stage. The suggested algorithm avoids the utilization of the approximation equivalent for the fractional-order system and instead employs FSM. Furthermore, the approach optimizes the nonlinearity within the upper membership function (UMF) and the uncertainty range through the lower membership function, as opposed to arbitrary selection. By considering variations in the membership functions, the outcomes exhibit a superior response compared to previous investigations. The results of the three control structures are compared with the traditional PID controller, and simulation results demonstrate the feasibility of this technique. The findings suggest that by optimizing different integral performance criteria using this design technique, controllers for both integer and fractional-order plants can yield favorable step responses. The proposed algorithm is validated by comparing its step response performance with that of previous research, followed by a discussion on sensitivity analysis and computational requirements.

This paper presents a Hardware in the loop (HIL) simulation of a microcontroller using non-linear control implemented in PFC (Power Factor Correction) boost, buck and SEPIC converters. This is a non-conventional approach, where libraries are used to directly interface with the Texas's DSP 2812. Initially, the block diagrams that contain the control equations are constructed. Then, the codes are generated automatically. The advantages provided by the proposed method are: security, economy of development cycle time, easy understanding of the control process and programming, standardization and concurrent simulation. Three nonlinear control techniques - state feedback linearization (SFL), passivity based control (PBC) and interconnection and damping assignment passivity-based control (IDA-PBC) has been validated experimentally using HIL simulation for boost, buck and SEPIC converters.

A novel adaptive fuzzy proportional-integral-derivative (PID) controller based on the proposed piecewise PID controller is put forward for the sandglass-type floating, drilling, production, storage and offloading unit (FDPSO). First, on the premise of appropriate positioning accuracy, a piecewise linear PID controller considering the directional characteristic between the motions and environmental loads is proposed to conserve energy of traditional linear PID controller. Then, to improve the stability during the transient process and alleviate oscillation induced by piecewise PID controller, the robust adaptive fuzzy PID controller based on the piecewise PID controller is put forward, whose stability is verified by fuzzy Lyapunov method. The proposed fuzzy output variables are designed including motions in both the horizontal and vertical planes to solve the surge–pitch coupling problem and optimize energy consumption. The time-domain simulations with a complete model of all DP components and external forces are carried out. Therein, the thruster model is improved by introducing a virtual thrust command to decrease the obvious phase lag, response delay and amplitude reduction of the traditional thruster model. In addition, the application of wave filter is discussed, especially when the wave-frequency (WF) motions are more prominent and significant than low-frequency (LF) motions. Finally, comparisons between the proposed adaptive fuzzy PID controller and traditional linear PID controller are made and analyzed. Good control effects of the proposed controllers are demonstrated with the assistance of numerical simulations with a series of control parameters.

This paper investigates the integration of Fuzzy Logic with PID (Proportional, Integral, Derivative) controllers to enhance the performance of temperature control systems. Traditional PID controllers, widely used in various applications, often encounter difficulties with nonlinear, time-varying, and uncertain systems, resulting in performance issues like oscillations and overshoots. To mitigate these challenges, the adoption of Fuzzy PID control, which improves adaptability, robustness, and responsiveness by incorporating fuzzy logic into the control mechanism. The study involves simulations using Simulink to compare three distinct control models: conventional PID, standalone Fuzzy Control, and the hybrid Fuzzy PID Control across standardized control scenarios. Our results show that Fuzzy PID controllers significantly outperform traditional methods, especially in complex environments lacking precise mathematical modeling. The enhanced system response times and stability demonstrated by Fuzzy PID controllers suggest substantial potential for broader application across diverse industries, promising considerable improvements in operational efficiency and reliability.

The tracking accuracy of speed plays a significant role in the autonomous vehicle's control and safety management. In this study, we presented a novel method called self‐adaptive proportional integral derivative (PID) of radial basis function neural network (RBFNN‐PID) which is shown with improved longitudinal speed tracking accuracy for autonomous vehicles. A forward simulation model of longitudinal speed control for autonomous vehicles is established based on the driver model of self‐adaptive RBFNN‐PID and the vehicle dynamics model. Based on that, we used the traditional PID and fuzzy control methods as benchmarks to demonstrate the edge of the self‐adaptive RBFNN‐PID control under the new European driving cycle. Simulation results show the RBFNN‐PID method is significantly more precise than the comparing groups, with a reduced error in the range of [−0.369, 0.203] m/s. The vehicle performance gives better ride comfort as well. In all, self‐adaptive RBFNN‐PID is proven to be effective in longitudinal speed control of autonomous vehicles and significantly outperforms the other two methods.

Hardware in the Loop Simulation(HILS) plays an increasingly important role in the development and test system of missile. This paper describes the structure and function of a typical HILS Platform for missile testing. The platform has a double computers structure, which consists of the control computer and the simulation computer. The paper analyses the hardware and software requirements and gives the simulation workflow chart. Accuracy of the timer is one of the key techniques in the hardware in the loop simulation. Because of the poor real-time performance of Windows system, RTX HAL extension Subsystem is introduced to meet the real-time requirement of the system. This paper also studies the realization of accurate clock in the RTX, introduces the general process of driver development. The results of simulation experiments indicate that the platform has good real-time performance and runs stably and reliably. The flight data do not miss or mismatch in the whole simulation process. The platform fully satisfies the real-time requirements of hardware in the loop simulation for missile guidance and control system.

A vehicle suspension system usually consists of a spring and a damper. These springdamper assemblies in practice have nonlinear features that are difficult to model mathematically. Due to the complexity of modelling these components the application of the Hardware in the Loop simulation (HIL) is recommended. In Hardware in the Loop simulation, one part of the system is computationally simulated (software), and another part, which has the complex characteristics of being modeled, is physically incorporated into the system (hardware). Thus, this dissertation describes the application of the Hardware in the Loop simulation to analyze the dynamic behavior of a vehicle where the two rear suspension are the physical components of the system and all the other parts of the vehicle are simulated.

The bi-directional direct current to direct current (DC-DC) converter plays a crucial role in applications involving photovoltaic (PV)-based micro grids. These PV-based hybrid systems have become imperative to ensure uninterrupted power supply and meet local power demands. Selecting the right controller for this converter presents a significant challenge. Traditional proportional integral derivative (PID) controllers yield suboptimal efficiency due to their high delay and settling times. This issue can be overcome by implementing a PID controller based on genetic algorithms (GA). An interconnected grid system is employed to regulate the DC connection voltage across various load conditions, with PV serving as the means to sustain electricity generation. Numerous operational modes tailored to demand are explored, and control techniques are used to maintain the desired DC link voltage level, ultimately enhancing the efficiency of both the PV system and the bidirectional converter in on-grid configurations.

As more and more energy storage systems are applied to support the safe operation of the power grid, it becomes more important to conduct grid connection tests. According to the latest national standards, the grid connection test scheme is studied on the basis of RT-LAB hardware in the loop simulation. Firstly, the structure of the Energy storage system(ESS) based on the energy storage inverter is analyzed, and the strategy of conduct and mathematical model of the energy storage system are introduced; Secondly, based on RT-LAB , conducted with FPGA, hardware in the loop simulation test platform is built to improve the calculation method in the simulation, improve the accuracy and speed of the simulation; Finally, on the basis of the above, the grid connection performance test scheme is introduced, the test method performance is described in detail on the condition of fault ride through of the energy storage system, and the results are analyzed in depth. The results shows that using RT-LAB hardware in the loop simulation can accurately simulate the grid connection test of the energy storage system and provide a reference for the test plan.

This paper designed HILS（Hardware In the Loop Simulation）interactive system based on xPC platform . Through the interface between C++ and MATLAB engine, establish the seamless data connection between Simulink and interactive system, complete data interaction between system and Simulink, realize the function development of model configuration, parameter modification and off line simulation. We establish the data communication between host and target machine through TCP/IP protocol to realize the model download and real-time simulation. Use database to store simulation data, implement real-time simulation monitoring and simulation data management. Realize system function integration by Qt graphic interface library and dynamic link library. At last, take the typical control system as an example to verify the feasibility of HILS interactive system.

In guided missiles, the major function of a seeker is to track a target continuously. In target tracking process most seekers employ a gimbal system, usually a two-axis, on which a tracking device and a rate gyroscope are mounted. For such guided missiles, the stabilization of gimbal is essential for maintaining the tracking device directing towards the target. Various control methods have been developed for the gimbal stabilization to make the gimbal to respond faster for a rate command input so that the gimbal follows the rate input in the presence of disturbances. Here, a fuzzy self-tuning proportional, integral, derivative (PID) type controller based on parameters adaptive method is proposed for two-axis gimbal stabilization which can be applicable for most guided missiles. The controller gains in the proposed control technique are made of input and output scaling factors used in fuzzification and defuzzification processes. The scaling factors are tuned online based on the missile rotation rate and the gimbal rate response. The response of the gimbal in the stabilization loop with the proposed controller has been analyzed in MATLAB for various missile rotation rates and the simulation results are compared with a traditional PID controller. The results prove the efficiency of the proposed control method which gives a better and faster response with zero steady-state error than the traditional control method.