Automotive control: from concept to experiment to product

Hanselmann, H.

doi:10.1109/cacsd.1996.555244

Cited by 38 publications

(19 citation statements)

References 4 publications

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“…In the last few years these aspects are becoming one of the major issues in control design for advanced mechatronic equipments and robotics [7,9,10].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

Architectures for Rapid Prototyping of Model-Based Robot Controllers

Bona¹,

Indri²,

Smaldone³

2004

Springer Tracts in Advanced Robotics

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Abstract. Rapid prototyping (RP) in control design can be defined as a computer-assisted process aimed at recursively validate dynamic models of complex plants and mechatronic systems and/or design and test digital control algorithms for real-time applications.Rapid prototyping of digital control algorithms requires integrated hardware/software architectures, allowing fast and systematic interactions between the algorithmic design phase and the experimental testing. The design phase is performed with the support of a computer aided control design environment, where simulations are performed on accurate models of the specific equipment under investigation; after that, a rapid transfer of the algorithm on the target hardware is necessary to validate it experimentally. It is therefore necessary to have a complete prototyping environment, where different controller blocks are readily available, with structure and parameters easily modifiable to be tested on the simulated plant and downloaded on the target hardware platform for real-time validation.The present Chapter introduces the state-of-the art on RP, critically surveys and discusses general issues related to both HW and SW aspects that are at the basis of RP; furthermore it describes in some details the solution implemented by the authors at the Experimental Robotics Laboratory of Politecnico di Torino. A test-case, devoted to the problem of modelling and compensation of nonlinear friction in rotating robot arms is presented.Finally, a critical appraisal of the proposed solution, in the light of the gained experience, is discussed and future developments are pointed out.

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“…In the last few years these aspects are becoming one of the major issues in control design for advanced mechatronic equipments and robotics [7,9,10].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

Architectures for Rapid Prototyping of Model-Based Robot Controllers

Bona¹,

Indri²,

Smaldone³

2004

Springer Tracts in Advanced Robotics

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“…A HIL simulator is used in the development and testing of embedded controllers in the Electronic Control Units (ECUs) [1][2] . Performing validation and verification of the functional specification of the ECUs in a traditional vehicle electrical development platform such as the yellowboard (a breadboard type of platform for testing electrical functionality) or in a prototype vehicle is costly both in time and money as static test benches having the actual wiring harness, loads and sensors are required.…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable Hardware-in-the-Loop Simulator

Thanagasundram

McMurran

Mouzakitis

et al. 2010

Measurement and Control

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“…When an ECU is still under development and software revisions are frequent, only automated testing can guarantee the test coverage. The same concepts and tools for test automation described already in [6] are useful here.…”

Section: Automated Testingmentioning

confidence: 97%

“…With the DEC Alpha A X P T M 21 164 HILS processor though, everything can be run on just one processor much faster than on the five-DSP system [9]. taken with the TRACE and MTRACE tools [6]. Figure 4 shows one of the GUIs Written in MATLAB by Tesis.…”

Section: An Examplementioning

confidence: 99%

“…Figure 1 shows a block diagram used in off-line control design of an ABS system. For Rapid Control Prototyping using the toolset described in [6], the user would cut out the leftmost block, drag-drop it to a new window, attach the required I/O blocks, generate code, and download it to the prototyping hardware. On the other hand, for ECU testing in a HIL simulation, he would do this with the Hydraulics and Vehicle Dynamics Model blocks instead, now loaded to the HILS hardware.…”

Section: Why Hil Simulation Should Be Integrated With a Cacsd Toolsetmentioning

confidence: 99%

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Hardware-in-the-loop simulation testing and its integration into a CACSD toolset

Hanselmann¹

Proceedings of Joint Conference on Control Applications Intelligent Control and Computer Aided Control System Design

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Hardware-in-the-Loop Simulation allows ECUs to be tested in a simulated environment in closed-loop. Engines, vehicles, and other components the ECU normally controls are replaced by high-fidelity models executed on a real-time computer system. It is shown that it is now possible to use the same tools for Hardware-in-the-Loop Simulation that have been used in the control development, for the benefit of easy use and reuse of models.

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Automotive control: from concept to experiment to product

Cited by 38 publications

References 4 publications

Architectures for Rapid Prototyping of Model-Based Robot Controllers

Architectures for Rapid Prototyping of Model-Based Robot Controllers

Reconfigurable Hardware-in-the-Loop Simulator

Hardware-in-the-loop simulation testing and its integration into a CACSD toolset

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