Improved performance of a brushless DC motor using hardware in the loop control technique

Zouari, Lilia; Ayed, Mossaad Ben; Abid, Mohamed

doi:10.1109/ssd.2015.7348100

Cited by 3 publications

(6 citation statements)

References 9 publications

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“…Simulink/Matlab provides HIL by performing cosimulation between the FPGA board and the Quartus II software design [27,[29][30][31][32][33]. HIL simulation is used to achieve the control strategy of the flexible robot arm, and ensures the verification of the effectiveness of controllers in a repeatable and cost-effective way [29,31].…”

Section: B Hil Simulation Techniquementioning

confidence: 99%

“…HIL simulation is used to achieve the control strategy of the flexible robot arm, and ensures the verification of the effectiveness of controllers in a repeatable and cost-effective way [29,31]. The steps required to perform the verification of the controller's accuracy according to the HIL [30][31][32][33], are: Compilation creates a compiled Quartus II project presented in Figure 4. The compilation procedure (Figure 5) comprises of four steps.…”

Section: B Hil Simulation Techniquementioning

confidence: 99%

“…The most adequate strategy was the co-design, since it was expected to develop HW/SW components concurrently. The main idea was to set the HSIL to overcome its limits, as it was recommended in [29,[32][33]. The described method could improve HIL, having the following advantages:…”

Section: Hsil Co-simulation Techniquementioning

confidence: 99%

See 2 more Smart Citations

A Comparative Study of Computer-Aided Engineering Techniques for Robot Arm Applications

Zouari¹,

Chtourou²,

Ayed³

et al. 2020

Eng. Technol. Appl. Sci. Res.

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As systems become increasingly complex, their simulation techniques have to be more accurate and enhanced. Despite the wide use of robotic arms in industries, they still encompass a wide number of complexities. The control of a flexible robot arm driven by a Brushless DC Motor (BDCM) for tracking problems is a great challenge, not only for its complex algorithms but also for its verification process. Robotic systems are designed heterogeneously by combining continuous and event discrete models. Therefore, computer-aided engineering tools have to be enhanced in order to support the verification of the control algorithms. Ensuring definite and rapid simulations is a challenging task for robotic application systems. Although control strategies can be tested using the Matlab/Simulink environment to assess their performance, their verification at a low-level still remains a very difficult task. This paper studies different simulation techniques based on Model In the Loop (MIL), Hardware In the Loop (HIL), and Hardware Software In the Loop (HSIL) on a flexible robot arm driven by BDCM in order to overcome each method's limits, focusing on performance and cost and simulation time reduction. The HSIL achieves the highest accuracy and speed than MIL and HIL and provides reusability and portability of the control unit compared to the other techniques.

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Section: B Hil Simulation Techniquementioning

confidence: 99%

Section: B Hil Simulation Techniquementioning

confidence: 99%

See 1 more Smart Citation

A Comparative Study of Computer-Aided Engineering Techniques for Robot Arm Applications

Zouari¹,

Chtourou²,

Ayed³

et al. 2020

Eng. Technol. Appl. Sci. Res.

View full text Add to dashboard Cite

show abstract

“…In many cases, errors related to lack or insufficiency of resources are detected in the component implementation step as discussed in Refs. [11][12][13][14]. Predicting these kinds of problems at a high level of simulation represents a great challenge.…”

Section: Introductionmentioning

confidence: 99%

System-level co-simulation for embedded systems

et al. 2020

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“…The levels of electronic components integration, the complexity and the size of embedded code are continually growing and this growth is accompanied by great sensitivity to the disturbance and uncertainties [3,4]. The number of possible combinations states poses a problem of combinatorial explosion that led to huge numbers of possible states due to the complexity of mechatronic systems [5,6]. This complexity is a challenge for dependability [1,5,7].…”

Section: Introductionmentioning

confidence: 99%

Software In the Loop Simulation for Robot Manipulators

Ayed¹,

Zouari²,

Abid³

2017

Eng. Technol. Appl. Sci. Res.

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In the last decades, the classical verification of robotic software component is postponed until the code is developed enough to function in real hardware. For this reason, the verification of code at early stages is essential to reduce development costs and necessary time for embedded systems such as robot manipulator. Therefore, Software In the Loop (SIL) simulation may be realized in the early stages of software development. It offers the possibility to execute tests before the hardware is available and thus detect errors. In this paper, we propose a Software In the Loop (SIL) test for robot manipulator driven by a Brushless DC Motor without a target system hardware. Simulation results prove the rapidity and the good performance of the developed code for the controller’s part by the validation of the behavior of robot manipulator software.

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Improved performance of a brushless DC motor using hardware in the loop control technique

Cited by 3 publications

References 9 publications

A Comparative Study of Computer-Aided Engineering Techniques for Robot Arm Applications

A Comparative Study of Computer-Aided Engineering Techniques for Robot Arm Applications

System-level co-simulation for embedded systems

Software In the Loop Simulation for Robot Manipulators

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