Real Time Software-in-the-Loop Simulation for Control Performance Validation

Salem, M.; Das, Tuhin

doi:10.1177/0037549708097420

Cited by 13 publications

(4 citation statements)

References 12 publications

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“…CarSim is a well-known, real-time software used for simulations of vehicular dynamics [24]. We utilized a typical SIL test framework supported by CarSim to validate the feasibilities for the vehicle control and the planning method [33,34]. Figure 7 shows a test track of 2.4 kilometers provided by the CarSim as a default map.…”

Section: Simulation Environmentmentioning

confidence: 99%

Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Bae¹,

Moon

Seo³

2019

Electronics

130

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The convergence of mechanical, electrical, and advanced ICT technologies, driven by artificial intelligence and 5G vehicle-to-everything (5G-V2X) connectivity, will help to develop high-performance autonomous driving vehicles and services that are usable and convenient for self-driving passengers. Despite widespread research on self-driving, user acceptance remains an essential part of successful market penetration; this forms the motivation behind studies on human factors associated with autonomous shuttle services. We address this by providing a comfortable driving experience while not compromising safety. We focus on the accelerations and jerks of vehicles to reduce the risk of motion sickness and to improve the driving experience for passengers. Furthermore, this study proposes a time-optimal velocity planning method for guaranteeing comfort criteria when an explicit reference path is given. The overall controller and planning method were verified using real-time, software-in-the-loop (SIL) environments for a real-time vehicle dynamics simulation; the performance was then compared with a typical planning approach. The proposed optimized planning shows a relatively better performance and enables a comfortable passenger experience in a self-driving shuttle bus according to the recommended criteria.

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Section: Simulation Environmentmentioning

confidence: 99%

Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Bae¹,

Moon

Seo³

2019

Electronics

130

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“…Such virtual environment based development of modules leverages the labor and financial costs as well as risky trial-and-error physical experiments. As a result, in almost all sectors dealing with software development, the implementation of SITL simulation is essential [1][2][3][4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop

Tullu,

Jung,

Lee

et al. 2023

Preprint

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Software-In-The-Loop (SITL) simulation tools have been extensively used in development of safety-critical software. Utilizing these tools substantially accelerates software development eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model specific parameters on the development and testing of custom module in PX4 SITL environment. Models of a fixed-wing unmanned aerial vehicle with vertical takeoff and landing capabilities and steerable sensor platform/gimbal are used as case study for this investigation. The effects of parameters of these aerial vehicle and sensor platform models are taken into consideration in the development of custom module that controls the dynamics of steerable sensor platform mounted on the vehicle model. The work also presents steps necessary to customize PX4 SITL and Gazebo simulation environment to incorporate parameters of the vehicle and sensor platform models in the development and testing process of custom module. Based on these instances, simulation results are obtained and discussed. The results show that reliability of PX4 SITL simulation framework is justified by proper customization and integration of PX4 SITL and Gazebo simulator.

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“…This is done to allow for the inclusion of software features for which no templates exist or to allow for faster simulation runs, as part of the functional blocks are already written in low-level C / C ++ code. Therefore, SIL is defined as the inclusion of compiled production software code in a simulation model [8].…”

Section: Introduction 1brief Introduction To Mbd For Mechatronicsmentioning

confidence: 99%

“…The most relevant term for dynamic modeling purposes is the contribution of the mechanical power output, which as we know is the product of electro-magnetic torque and rotor angular speed. Equation (8) shows the expression of the electro-magnetic torque, in the three-phase reference system.…”

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confidence: 99%

Review on Model Based Design of Advanced Control Algorithms for Cogging Torque Reduction in Power Drive Systems

Dini

Saponara

2022

Energies

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This review of the state of the art aims to collect the description and main research results in the field of development and validation of control algorithms with the main purpose to solve the problem of cogging torque and main sources of electromagnetic torque ripple. In particular, we focus on electric drives for advanced and modern mechatronic applications such as industrial automation, robotics, and automotive applications, with special emphasis on work that exploits model-based design. A great added value of this paper is to explicitly show the operational steps required for the model-based design design of optimized control algorithms for electric drives where it is necessary to make up for electromagnetic torque oscillations due to the main sources of ripple, particularly cogging torque. The ultimate goal of this paper is to provide researchers approaching this particular problem with a comprehensive collection of the most effective solutions reported in the state of the art and also a summary for effectively applying the model-based design methodology.

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Real Time Software-in-the-Loop Simulation for Control Performance Validation

Cited by 13 publications

References 12 publications

Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop

Review on Model Based Design of Advanced Control Algorithms for Cogging Torque Reduction in Power Drive Systems

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