A17
Hardware-In-The-Loop

Back to overview

13:05
conference time (CEST, Berlin)
Hardware-in-the-Loop-Simulation for Collision Avoidance in Drone Swarms
28/10/2021 13:05 conference time (CEST, Berlin)
Room: A
M. Nattke (BTU Cottbus-Senftenberg, DEU)
M. Nattke (BTU Cottbus-Senftenberg, DEU)
Drones can do more complex tasks by combining them to a swarm. To cartograph the quality of an agriculture area in shorter time is even possible like a multispectral recording from different perspectives for one special point. This helps to detect fawns or crop dusting in field production. Moreover, can the agriculture open the door for rapid development of flying sensor nets. Before drone flights in swarm constellation can start, the constrains security, safety and even the higher efficiency must be validated to reduce risks for humans to a minimum. The system analysis contains all components and developed algorithms with special focus on collision avoidance are needed. Hardware-in-the-Loop-Simulations (HIL) provides the possibility to connect the virtual simulation environment with real hardware components of the complete developed drone swarm system. Like continuous integration systems in process of software development, it is possible to run prespecified routines for typical and critical situations in automated way. Solutions for two main challenges must be solved to prevent swarms again collisions. First area of interest is about relative localisation. Enhances with dimension of time distances and relative velocities are calculated. In combination with the motion prediction for the whole swarm and in contrast from each drone to all others within the swarm environment, curve intersection is identified. The second area describes reliable communication within all swarm entities and base station. High exchange rates of calculated and measured values, position data rises the potential for precise swarm coordination. In combination with consensus algorithms failure tolerance and knowledge about neighbours, swarm features are under deployment in redundant manner. Integrated into the HIL-System physical circumstances like very short distances, flight trajectories down to earth and high or low temperatures are simulated. At the end each aspect of the developed swarm system is proceeded to prepare real test flights reliable.
drone, swarm, hardware-in-the-loop, simulation, collision detection
13:25
conference time (CEST, Berlin)
Personal Driving Simulator: Display of a Hybrid Twin
28/10/2021 13:25 conference time (CEST, Berlin)
Room: A
S. Gimpel, M. Strobel (aSR advanced Simulated Reality GmbH, DEU)
S. Gimpel, M. Strobel (aSR advanced Simulated Reality GmbH, DEU)
The necessity of increasing speed and a higher level of maturity during the development process of future cars requires a significant contribution of virtual development. Nevertheless, the human factor retains a key role and its acceptance contributes significantly to the success of future vehicle properties and ADAS/AD functions. Therefore, neither a fully physical nor a fully digital method will lead to the desired result, but a hybrid method combines the advantages of both worlds. While simulation models help the developer to identify the best concept out of millions of variants and optimize the chosen one, a compact and function-based driving simulator enables the experience of those simulations directly at the engineer's workplace. Like a personal computer, the personal driving simulator has to provide a single system for various use cases by using a modular software and hardware architecture. On the hardware side, this results in the requirement for interchangeability of the different HMI components like steering wheel, pedals, buttons, or driver seat as well as adjustable vehicle ergonomics. The software continues this flexibility with a middleware-based co-simulation approach, which offers the possibility to couple models of different domains and various software tools. Finally, the hybrid prototype is build by merging this digital prototype with the simulator and its hardware components. This enables digital vehicle functions to be evaluated in a hybrid twin and be experienced in real-time.
hybrid twin, co-simulation, driving simulator, middleware, experience, functions
13:45
conference time (CEST, Berlin)
Introduction to Recently Developed HIL Methods: Impulse Response Functions and Non-simultaneous Iterative Hybrid Simulation/Testing
28/10/2021 13:45 conference time (CEST, Berlin)
Room: A
W. Witteveen (FH OÖ Forschungs- und Entwicklungs GmbH, AUT)
W. Witteveen (FH OÖ Forschungs- und Entwicklungs GmbH, AUT)
Complex mechanical systems usually consist of subsystems that interact dynamically with each other. If the subsystems are separated from each other and partly exist as numerical model and as real hardware, then one speaks of hardware in the loop (HIL), cyber-physical or hybrid systems. In this presentation, two recently developed methods for the coupling of experimental and numerical subsystems into an overall system are presented. In both methods, no explicit mathematical models are required and the task of parameter identification is completely omitted. In the first method, the hardware is characterized with impulse response functions. This leads to a linearized description of the component around an operating point. In addition to the presentation of the basic idea, some examples (e.g. rubber bearings) are shown. This method can be used for an “as it is” representation of existing constructions in numerical time integration. In the second approach (non-simultaneous iterative hybrid simulation/testing), the test bench and the numerical simulation are driven repeatedly in a loop. After each loop, the compatibility conditions are checked. If they are fulfilled, both systems behave according to the cutting force principle as if they were actually coupled. No dynamics are neglected and nonlinearities are mapped. The data exchange is not critical, a communication via EMail would be possible. In addition to the basic idea, a wheel suspension is shown as an example, in which the shock absorber is present as hardware.
Hardware in the loop (HIL), Coupled systems, Hybrid systems, Cyberphysical systems
14:05
conference time (CEST, Berlin)
Validating Heavy Equipment Transmission Design Using Multibody Simulation in Real-time
28/10/2021 14:05 conference time (CEST, Berlin)
Room: A
N. Ki (John Deere Waterloo, USA); M. Furman, W. Prescott (Siemens Digital Industries Software, USA)
N. Ki (John Deere Waterloo, USA); M. Furman, W. Prescott (Siemens Digital Industries Software, USA)
Heavy equipment driving conditions require a balance of terrain and soil interaction, driver comfort and durability of the machine. A complex requirement for testing scenarios when integrating variants of powertrain and chassis combinations with ever-shortening development cycles. Prototype powertrain and chassis variants may not physically exists during the development cycle, therefore subsystem optimization and validation cannot be done physically. Bringing the development into the lab allows year-round testing with simulation and physical test-cells to calibrate and optimized the design. The hardware-in-loop process can apply accurate loads to components for Heavy Equipment machinery. Digital twins of the tractor are reused from the existing engineering models. These models are used to create the loading conditions in the real-time powertrain dyno environment. Validating HIL allows application of this process too many levels of tractors, saving time and test effort in the field[KD(SS3PM1] . The John Deere transmission controller testing has physics based model and real transmission hardware. The test cell includes the internal combustion engine and transmission connected to dynos. Shift test repeatability is guaranteed in this environment. Starting with existing multibody simulation models and exporting to real-time integrating environments, there will be further discussion about how real field test signals compare to the simulated field test-cell environment. For example; shift up, shift down, skip shift and shuttle shift. Also next steps for process improvement will be discussed. Key enabler for HIL success is the reuse of John Deere’s existing 3D models for real-time applications on hardware available in the market. 3D models advance the level of load and frequency range over historical simplified reduced DOF models. This expands the accuracy of the models over broad number of scenarios. Reuse of existing models decreases risk and uncertainty of the models within the engineering organization and saves the time to develop and maintain multiple models of the same mechanism.
HIL, real-time, simulation, off-highway
×

[TITLE]

[LISTING

[ABSTRACT]

[DATE]

[ROOM]

[KEYWORDS]