• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.1
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• pp.169-175
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• 2009

Real-time multibody vehicle dynamics software has been developed for virtual handling tests. The software can be utilized for HILS(Hardware In the Loop Simulations) and consists of three modules such as a graphical vehicle modeling preprocessor, a real time dynamics solver, and a virtual reality graphic postprocessor for virtual handling tests. In the graphical vehicle modeling preprocessor, vehicle hard point data for a suspension model are automatically converted into multibody vehicle model. In the real time dynamics solver, the efficient subsystem synthesis method is used to create multibody equations of motion for a subsystem by a subsystem. In the virtual reality graphic postprocessor, an animator has been also developed by using Matlab Virtual Reality Toolbox for virtual handling tests.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.229-238
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• 2009

In this paper, AWS ECU test method, which is considering behavior of a Bi-modal tram, is described. In order to evaluate the performance of an electronic automotive ECU, the method which combines HILS (Hardware In the Loop Simulation) and RBT (Requirement Based Testing) is introduced. HILS is the method to predict the behavior of a vehicle adopting an ECU. The behavior of a Bi-modal tram can be analyzed by using the vehicle dynamic model. Requirement Based Testing compare the outputs of a real system with a virtual electronic unit (oracle) which created by the requirements. Rear axles of the Bi-modal tram are independently controlled by two AWS ECU. Especially, swing out can happen when an articulated vehicle is operated in the curved road. Therefore dynamic behaviour of a Bi-modal tram is considered at this situation. Through this study, the reliability of ECU can be verified economically and safely using the proposed test method before conducting the track test.

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

• Journal of Ocean Engineering and Technology
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• v.26 no.5
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• pp.81-86
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• 2012

Unmanned underwater vehicles have many applications in scientific, military, and commercial areas because of their autonomy. In many cases, an underwater vehicle adopts a control algorithm based on a tactical inertial sensor for precise control. However, a control algorithm that uses a tactical inertial sensor is unsuitable for some underwater vehicle missions such as torpedo decoys. This paper proposes a control algorithm for an unmanned underwater vehicle that does not require precise control. The control algorithm proposed for an unmanned underwater vehicle adopts a low cost MEMS inertial sensor, and simulations using the specifications of the MEMS inertial sensor under development are performed to verify the control algorithm under a real environment. The results of these simulations are presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.1
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• pp.21-29
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• 2003

The Strap Down Inertial Measurement Unit(SDIMU) is recently used for the sensor package of the modern underwater vehicles such as torpedoes and unmanned underwater-vehicles. For using SDIMU, an initial alignment must be carried out before the fire or navigation stage. The general initial alignment methods require that a mother vehicle Is a stationary condition or the Inertial Navigation System(INS) of vehicle is received the specific of data navigation from the mother vehicle. But an underwater vehicle dropped from aircraft is hard to satisfy above both necessary conditions of the general initial alignment. So, we suggest a new strap down initial alignment method of an underwater vehicle dropped from aircraft without using any aided sensors. The highlight point of this method is that a period of initial alignment is not before the fire but during running stage to fix alignment error. And we verify it by analyzing various data of S/W simulations, Hardware In the Loop Simulation(HILS) tests and sea trials.

• Journal of Power Electronics
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• v.19 no.6
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• pp.1496-1504
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• 2019

This paper proposes a new THD reduction algorithm for modular multilevel converters (MMCs) with offset voltage injection operated in nearest level modulation (NLM). High voltage direct current (HVDC) is actively introduced to the grid connection of offshore wind powers, and this paper deals with a voltage generation technique with an MMC for wind power generation. In the proposed method, third harmonic voltage is added for reducing the THD. The third harmonic voltage is adjusted so that each of the pole voltage magnitudes maintains a constant value with a maximum number of (N+1) levels, where N is the number of sub-modules per arm. By using the proposed method, the THD of the output voltage is mitigated without increasing the switching frequency. In addition, the proposed method has advantageous characteristics such as simple implementation. As a part of this study, this paper compares the THD results of the conventional method and the proposed method with offset voltage injection to reduce the THD. In this paper, simulations have been carried out to verify the effectiveness of the proposed scheme, and the proposed method is implemented by a HILS (Hardware in the Loop Simulation) system. The obtained results show agreement with the simulation results. It is confirmed that the new scheme achieved the maximum level output voltage and improved the THD quality.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2012.05a
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• pp.268-272
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• 2012

A propulsion controller for vehicles should be designed to overcome a sensor failure during a flight, and it is necessary to control the system properly at any circumstances. Therefore, the vehicles need to retain reliability on the sensor measurements by implementing extra sensors to replace the original control sensors in case of their failure. This paper presents the MIMO NARX model by simulation which substitutes measured values with estimated ones by the state estimation technique in case of a sensor failure in a turbojet engine. It is also presented that the NARX model can be adapted as an engine model in HILS equipments.

• Journal of Aerospace System Engineering
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• v.16 no.6
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• pp.74-80
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• 2022

The utilisation of small drones is becoming increasingly widespread particularly in the military sector. In this study, STANAG 4586, a standard interface for military unmanned aerial vehicles, was applied to a multicopter-type small drone to examine the suitability of the military system. To accomplish this, a small multi-copter vehicle was designed and manufactured, integrating a flight control computer, ground control system, and data link. Furthermore, flight control and ground control equipment software were developed by applying the STANAG 4586 interface, followed by HILS and flight tests.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.575-584
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• 2021

This study contains the process of developing a Mission Planning System (MPS) of an USV that can be applied in real situations and verifying them through HILS. In this study, we set the scenario of a single USV with limited operating time. Since the USV may not perform some missions due to the limited operating time, an objective function was defined to maximize the Mission Achievement Rate (MAR). We used a genetic algorithm to solve the problem model, and proposed a method using a 3-D population. The simulation showed that the probability of deriving the global optimal solution of the mission planning algorithm was 96.6% and the computation time was 1.6 s. Furthermore, USV showed it performs the mission according to the results of the MPS. We expect that the MPS developed in this study can be applied to the real environment where USV performs missions with limited time conditions.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1334-1337
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• 1997

A spacecraft attitude control ground hardware simulator development is discussed in the paper. The simulator is called KT/KARI HILSSAT(Hardware-In-the Loop Simulator Single Axis Testbed), and the main structure consists of a single axis bearing and a satellite main body model on the bearing. The single axis tabel as ans experimental hardware simulator that evaluates performance and applicability of a satellite before evolving and/or confirming a mew or and old control logic used in the KOREASAT is developed. Attitude control of spaceraft by using reaction wheel is performed.