• 한국항공우주학회지
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• 제47권5호
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• pp.326-334
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• 2019

HILS(Hardware In the Loop Simulation)를 이용한 소형 무인항공기 개발은 비용과 시간을 줄이면서 무인항공기의 신뢰성을 높이는데 효과적으로 사용될 수 있다. 또한, 실제 비행 중에 발생할 수 있는 비행제어컴퓨터의 사용 불능상태 등을 고려한 시뮬레이션을 개발과정에 반영하면, 인명 및 재산상 피해 등의 위험을 감소시킬 수 있다. 이러한 HILS를 적용하기 위해서는 실제 비행 조건과 유사한 환경을 제공할 수 있는 실시간 시뮬레이션 환경이 요구된다. 따라서 본 논문에서는 6자유도 모션테이블을 이용하여 소형 무인항공기용 실시간 HILS 환경을 구축하였다. 선행연구에서 개발된 6자유도 모션테이블을 실시간으로 HILS 환경과 연동하기 위하여, 동작 알고리즘을 위치제어 방식에서 속도제어 방식으로 변경하여 설계 하였다. 또한, 모션테이블의 실시간 동작을 확인하기 위해 역기구학 및 동작 시뮬레이션 모델을 Matlab $Simulink^{(R)}$에서 모델링하고 검증하였다.

• Journal of Electrical Engineering and Technology
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• 제10권6호
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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.

• 한국군사과학기술학회지
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• 제14권2호
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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.

• 한국항공우주학회지
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• 제44권4호
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• pp.316-323
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• 2016

무인항공기는 자동모드에서는 사전에 계획된 항로점(비행이거나 이/착륙)들을 입력받아 자동으로 비행한다. 무인항공기는 수동모드에서도 유인항공기와 달리 조종사가 비행체에 탑승하지 않고 지상 통제실에서 조종입력을 인가하면 무선 데이터링크를 통하여 조종입력을 전달 받아 비행하게 된다. 데이터 링크는 여러 가지 이유로 통신두절이 될 수 있으며, 이때 무인항공기는 자동으로 비행모드를 수동에서 자동으로 전환하여 비행해야 한다. 그러므로 무인항공기에서 비행조종컴퓨터는 비행안전을 담당하는 매우 중요한 장비로 철저한 검증이 요구된다. 본 논문은 무인항공기의 비행제어컴퓨터가 비행성 요구조건을 만족하고, 다양한 고장이나 비상상황에서도 강건함을 입증할 수 있도록 비행제어 알고리즘의 검증환경인 HILS(Hardware In the Loop Simulation) 시험환경을 개발할 때 고려해야 할 사항들을 연구한 것으로 비행제어 HILS 시험환경의 구성장비들과 기타 고려사항 들을 제시한다.

• 유공압시스템학회논문집
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• 제5권4호
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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.

• 한국자동차공학회논문집
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• 제9권6호
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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.

• 한국정밀공학회지
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• 제30권1호
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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.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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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.

• 한국자동차공학회논문집
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• 제9권3호
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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.

• 한국항해항만학회지
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• 제31권5호
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• pp.325-332
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• 2007

본 연구에서는 조이스틱을 이용하여 프로펠러와 타, 선수/선미 쓰러스터를 갖는 선박의 접이안을 위한 제어 알고리즘을 개발하였다. 조이스틱으로부터 전진 방향 및 회전 방향의 속도명령을 받아 전진 방향 및 회전 방향의 속도를 제어하는 MIMO(Multi-Input Multi-Output) 비선형 제어 알고리즘을 개발하기 위해 저속 조종수학모형을 사용하였다. 또한, 본 연구에서는 비선형 및 PID 제어기의 성능을 검증하기 위해 선박 접이안 가상 HILS(Hardware in the Loop Simulation) 프로그램을 구현하였다. HILS 프로그램은 LabWindow/CVI를 이용하여 개발하였으며, 사용자는 선박의 현재 위치와 원하는 궤적을 모니터를 통해 본 후 조이스틱을 이용하여 선박의 전진 방향 및 회전방향 속도를 제어함으로서 선박을 조종한다. 시뮬레이션 결과를 보면 비선형 제어기와 PID 제어기는 개루프 조이스틱 제어기보다 타와 쓰러스터의 입력 크기뿐 아니라 선박의 위치오차 면에서도 우수한 성능을 보였다.