50 results about "Hardware in loop simulation" patented technology

The invention discloses an underwater gliding robot anchoring process energy consumption optimization method and system based on a subdomain grey box model. The energy consumption optimization method comprises the steps that a white box energy consumption mechanism model in the underwater gliding robot anchoring process is established; the whole anchoring energy consumption stage of the underwater gliding robot is divided into a plurality of sub-domains, and a Latin hypercube design method is adopted to simulate and generate a plurality of sub-domain samples meeting variable range constraints by using a hardware-in-the-loop simulation platform; selecting a Kriging model as a sub-domain agent model, fusing the white-box energy consumption mechanism model and constraint conditions of an oil bag volume and a movable mass position to form a sub-domain grey-box model, and performing segmented energy consumption fitting by using the sub-domain grey-box model; and with minimization of energy consumption fitted by the sub-domain grey box model as a target, performing iterative optimization on the sub-domain proxy model by adopting a dynamic guidance self-adjusting particle swarm algorithm, and outputting optimal planning parameters. The method realizes anchoring full-process low-energy-consumption control, and is suitable for marine resource exploration, hydrological monitoring and other tasks.

A hardware-in-the-loop test method and system for a protection device. The method comprises: constructing a simulation scenario in a hardware-in-the-loop simulation test system; on the basis of the mounting position of a protection device (4) to be verified in the simulation scenario, determining the minimum sampling signals required for said protection device (4) to work normally, and establishing a current transformer model capable of restoring a transient saturation scenario; performing a power-on operation on said protection device (4), and enabling the hardware-in-the-loop simulation test system to output an electrical signal; and after a correct sampling reading is acquired on said protection device (4), simulating a fault scenario in the simulation scenario, and on the basis of a current signal having transient saturation characteristics calculated by a model and a logic determination of the protection device, determining whether an action result of the fault scenario satisfies a setting value and an action logic. The present hardware-in-the-loop test method for a protection device restores a true current in a non-ideal fault condition, thereby deeply testing the working characteristics of a relay protection device in a power station.

The application discloses a train braking system distributed cooperative analysis platform, which comprises a system simulation area, a data acquisition area, a data intelligent analysis area and the like. The data acquisition area acquires vehicle data and transmits the vehicle data to the system simulation area. The system simulation area outputs vehicle simulation data through model-in-loop simulation, rapid control prototype simulation and hardware-in-loop simulation according to the vehicle data. The data intelligent analysis area performs fault diagnosis on a train braking system according to the vehicle data and the vehicle simulation data, and outputs a solution to eliminate faults according to a diagnosis result. The application takes an electronic brake control unit, a pneumatic brake control unit, a basic brake unit and other key components as main control objects, establishes a train braking system distributed cooperative analysis platform based on model simulation and big data analysis, and solves problems existing in system design, system test verification and system operation and maintenance.

The invention provides an automatic driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform and a medium, and relates to the technical field of automatic driving and car networking simulation. The platform comprises a satellite position simulation module, a traffic simulation platform, a hardware verification platform, a simulation bus and a clock synchronization module. The satellite position simulation module generates satellite data with a timestamp; the traffic simulation platform constructs a formation driving scene and operates a formation control algorithm; the hardware verification platform comprises a real phased-array antenna module and a PC5 communication device. The modules exchange data through a simulation bus, and the clock synchronization module unifies the time reference to form a closed-loop verification environment of simulation hardware simulation. The problems that space-based data and ground simulation are separated and real communication characteristics are difficult to quantitatively evaluate in the prior art are solved, the satellite-ground cooperation and formation control strategy can be efficiently and reliably verified in a laboratory environment, and the real vehicle test cost and risk are remarkably reduced.

The invention discloses a hardware-in-loop simulation method based on a high-order generalized average model and a related device, and belongs to the technical field of power electronic converter simulation. The method comprises the following steps: listing a piecewise linear state equation of a target power electronic converter; performing moving Fourier expansion on the piecewise linear state equation to obtain a high-order generalized average model of the power electronic converter; calculating moving Fourier coefficients of a switching signal and an input signal of the power electronic converter, and substituting the moving Fourier coefficients into a high-order generalized average model of the power electronic converter to obtain a differential equation of each order of moving Fourier coefficient about a circuit variable; and solving the differential equation, calculating to obtain a mobile Fourier coefficient of each variable in the circuit, and further reconstructing a time domain waveform of each circuit variable at the center moment to realize simulation of the target power electronic converter. According to the method, the simulation step length of the model is greatly increased, and computing resources are saved; meanwhile, the precision requirement is met, and the steady-state and transient-state behaviors of the circuit can be accurately predicted.

The present application relates to the technical field of power distribution network resilience evaluation, and discloses a power distribution network resilience evaluation verification method, system, device and medium based on multi-dimensional fault injection, which comprises the following steps: constructing a multi-dimensional fault model library; based on a preset test target, selecting a target fault scene from the model library and generating a fault injection strategy; executing the strategy on a hardware-in-the-loop simulation platform, and collecting system operation data in real time; calculating a performance index curve representing the overall power supply level of the power distribution network over time, and quantitatively calculating a plurality of resilience evaluation indexes; based on the resilience evaluation indexes, performing comparative analysis, identifying key scenes that significantly affect the resilience of the power distribution network, and adjusting the fault injection strategy in subsequent tests to realize closed-loop evaluation and verification of the resilience of the power distribution network. The present application not only evaluates the degree of performance loss, but also focuses on recovery speed and recovery efficiency to identify weak links affecting recovery and provide a scientific basis for formulating resilience improvement measures.

The application belongs to the technical field of wind turbine simulation, and provides a wind turbine full-closed loop simulator and method based on a field programmable gate array, which comprises a field programmable gate array chip, an ARM chip and a digital-analog interface connected with the field programmable gate array chip; the application adopts the field programmable gate array chip, and realizes transient real-time simulation of the electromagnetic system of the wind turbine by means of the powerful parallel computing capability of the field programmable gate array chip; compared with the prior art, the application can quickly verify the effect of the control strategy by using the built-in controller, and can access the actual wind turbine controller through the digital-analog interface to perform hardware-in-the-loop simulation and test the control effect; meanwhile, the ARM chip is used as a real-time operation carrier of the wind turbine controller algorithm, and the field programmable gate array chip and the ARM chip interact with real-time data through a digital-analog channel to realize a wind turbine closed loop real-time simulation platform.

This invention relates to the field of simulation technology and discloses an automatic setup device, deployment system, and method for hardware-in-the-loop simulation test engineering. The method includes: a standardized path aggregation module for storing the hardware-in-the-loop simulation test engineering in a first preset path; a DBC parsing and classification module for extracting preset information from DBC files, performing signal verification, attribute extraction, and automatic import and export classification, and storing the data in a data space; an automatic model update and compilation module for automatically updating and compiling the simulation model; a configuration file generation module for importing dependency libraries and device APIs, generating device configuration files according to their structure, and verifying the validity of the configuration files. This invention improves the efficiency of setting up simulation test engineering.

The application discloses an underwater glider robot anchoring process energy consumption optimization method and system based on a sub-domain gray box model, and the energy consumption optimization method comprises the following steps: establishing a white box energy consumption mechanism model in the underwater glider robot anchoring process; dividing the whole anchoring energy consumption stage of the underwater glider robot into multiple sub-domains, and using a Latin hypercube design method to simulate and generate multiple sub-domain samples meeting variable range constraints by using a hardware-in-the-loop simulation platform; selecting a Kriging model as a sub-domain surrogate model, fusing the white box energy consumption mechanism model and constraint conditions of an oil tank volume and a movable mass position, forming a sub-domain gray box model, and performing segmented energy consumption fitting by using the sub-domain gray box model; taking energy consumption minimization fitted by the sub-domain gray box model as a target, iteratively optimizing the sub-domain surrogate model by using a dynamic guidance self-adjusting particle swarm optimization algorithm, and outputting optimal planning parameters. The application realizes low-energy consumption control of the whole anchoring process, and is suitable for tasks such as ocean resource exploration and hydrological monitoring.

The invention relates to the technical field of power system relay protection, in particular to a power relay protection fault calculation and constant value checking method and system, and the method comprises the following steps: S1, building a standardized fault calculation model based on the power grid topology, equipment parameters and fault types corresponding to a relay protection device; according to the method, power grid information is accurately collected and verified, a standardized fault calculation model is constructed, a reliable basis is provided for fusing data driving and a physical model and accurately obtaining fault electrical quantity core parameters, high-precision waveform reconstruction and hardware-in-the-loop simulation are achieved on the basis of the core parameters in combination with actually-measured recording data, and the reliability of the system is improved. The action behavior of the protection device is accurately verified, the accuracy of power relay protection fault calculation, the reliability of action evaluation of the protection device and the high efficiency of constant value optimization are effectively improved, and the operation safety of a power grid is guaranteed.

The invention belongs to the technical field of vehicle software development, and particularly relates to a system and method for a non-real-time system to achieve hard real-time in hardware-in-loop simulation, and the system comprises a computer device, a hardware-in-loop simulation device and a hardware-in-loop simulation device. The computer device is configured to execute a task creating module and a task thread setting module; wherein the task creating module is configured to create a real-time model task and form a task program; the task thread setting module is configured to enable a task program to automatically read computer configuration and judge the number Z of processor cores of the current computer device, when the number Z of the cores does not exceed X, the thread number n is set to be equal to 1 so as to execute a real-time model task, otherwise, the thread number n is set to be equal to (Z-X) / Y so as to execute the real-time model task, wherein Y represents the number of threads of one physical core of the processor.

The utility model provides a high-power double-fed wind power converter hardware-in-the-loop simulation test tool, which comprises a bottom platform, a middle platform and a top platform which are arranged on a frame of a test vehicle, the low-voltage manager is respectively in circuit connection with the communication switch, the master control analog machine, the logic state switch, the control unit, the photoelectric converter, the distributed controller and the signal conversion panel, the signal conversion panel is respectively in circuit connection with the distributed controller and the photoelectric converter, and the photoelectric converter is in circuit connection with the distributed controller. The main control analog machine is in circuit connection with the communication switch, the communication switch and the logic state switch are respectively connected with the distributed controller, and the distributed controller is connected with the control unit through an optical fiber. The beneficial effects of the utility model are that the device integrates the distributed controller, the photoelectric converter, the low-voltage manager, the master control analog machine, the communication switch and the signal interface conversion panel, and is compatible with a plurality of doubly-fed models for hardware-in-the-loop simulation tests.

The invention discloses a steam generator liquid level control system verification platform based on hardware-in-the-loop simulation, and belongs to the technical field of nuclear reactor control. The invention aims to solve the problem of inaccurate description of physical equipment characteristics in the existing simulation technology. The platform comprises a DCS control system, a controlled device, an industrial control computer and a data communication network. The DCS control system comprises an upper computer, a Siemens S7-400 controller and a Siemens ET200M distributed I / O system, the controlled device is a Speedgoat real-time simulation platform carrying a steam generator simulation model, and the data communication network is composed of an industrial Ethernet and a PROFIBUS field bus. The platform supports a rapid control prototype and hardware-in-the-loop simulation dual mode, is compatible with PID and an intelligent control algorithm, has the functions of data storage, visual monitoring and the like, can accurately simulate actual working conditions, realizes full-process coverage from design to verification, improves simulation credibility and research and development efficiency, and provides a reliable test environment for steam generator liquid level control research.

The invention belongs to the technical field of power system simulation, and discloses a distributed resource aggregation control strategy verification system and method combined with hardware-in-loop simulation. In the distributed resource aggregation control strategy verification system, a physical simulation layer receives an equipment control instruction of an aggregation layer, simulates an electromagnetic transient process based on a high-fidelity power grid and a distributed resource model, and outputs an equipment state and electrical quantity data; the aggregation layer performs protocol adaptation on the physical simulation data, and splits a macroscopic instruction of the aggregation scene optimization control layer into an equipment control instruction; the optimization control layer combines physical data and market feedback to execute rolling optimization, update instructions and transaction declaration; the market simulation layer generates a price sequence and outputs deviation assessment; and the output unit summarizes the data and compares a target output strategy verification evaluation result. According to the method, the problem of difficulty in high-fidelity experiment simulation verification in distributed resource aggregation control is solved.

The application discloses a kind of vehicle gateway functional safety and network security horizontal contrast test method and system, method includes: according to relevant standard construction vehicle gateway standardization contrast test case library, and the input information of test case is configured, using HIL hardware-in-the-loop simulation test, by standard test method determine that function and performance satisfy the vehicle gateway equipment of relevant standard requirement, build vehicle gateway standard test component pool;At least two standard parts are selected from vehicle gateway standard test component pool, standard part and measured piece are configured according to the input information of test case in vehicle gateway standardization contrast test case library, after standard part and measured piece build vehicle gateway contrast test system, test according to the test case in vehicle gateway standardization contrast test case library, output the test result of measured piece.The application can be repeated to obtain more test evaluation results, increase the scientificity and reliability of test result.

The invention discloses an urban rail ATC hardware-in-loop simulation debugging platform and method based on Matlab, and relates to the technical field of software engineering.The method comprises the steps that S1, urban rail ATC monitoring data are collected, and the collected data are preprocessed; s2, constructing a simulation environment, evaluating an interference coupling relationship between track signals, executing signal interference superposition correction, and completing simulation environment initialization; s3, hardware-in-the-loop simulation is executed in the initialized simulation environment, frequency spectrum demodulation is carried out on the track voltage and the track current, the signal out-of-step risk degree is evaluated in real time, and whether interference injection operation and signal correction are triggered or not is judged; and S4, extracting a signal result output by simulation, evaluating the fitting degree of a simulation signal and an actual monitoring signal, judging a current signal fitting state, and implementing a dynamic calibration strategy. The problems that in-loop simulation of ATC hardware is not superposed with traction harmonic waves and backflow ripples, so that field out-of-step is difficult to reproduce, and the test coverage rate is virtually high are solved.

This invention provides a method, apparatus, and processing device for testing the speed limiting control function of a testing system. The testing method includes: determining a target maximum speed corresponding to the target maximum vehicle speed; controlling the vehicle in a hardware-in-the-loop simulation system to operate at the target maximum speed to obtain a first torque of the vehicle; comparing the first torque with a second torque to obtain a test result for the vehicle's maximum speed limiting function; wherein the second torque is the limiting torque corresponding to the target maximum vehicle speed. The method involves determining the corresponding target maximum speed using the target maximum vehicle speed, setting the drive motor speed to the target maximum speed, and reading the first torque emitted by the electronic control system. The test result is obtained by comparing the values ​​of the first torque and the limiting torque corresponding to the target maximum vehicle speed. Compared to real-vehicle testing, the speed limiting control function testing method in the hardware-in-the-loop simulation system is simpler and safer.

The invention discloses an ideal transformer interface stability enhancing method and system based on PINN-NIS, and belongs to the technical field of power hardware-in-loop simulation. An ideal transformer interface model with an inductance element at a physical side interface is established as an original circuit model; converting the inductance element into a substitution circuit model in which an equivalent resistor is connected with a current source in parallel by utilizing numerical integration substitution; constructing a physical information neural network, and defining a total loss function including voltage difference matching loss and physical constraint loss; training the physical information neural network by adopting a two-stage optimization strategy to obtain a static sensing network model; and finally, inputting the real-time circuit state quantity into the static sensing network model to obtain an equivalent resistance value when the stability is the strongest. The method has the advantages in the aspect of improving the stability of the ideal transformer interface device, and an effective technical solution is provided for high-precision and high-stability operation of the high-power controllable grid-connected interface device in power grid fault simulation.

This invention discloses a modeling and current limiting method for grid-type energy storage that considers the short-circuit impedance phase angle. Addressing the issue of existing transient analyses neglecting the short-circuit impedance phase angle, this method establishes a fault transient model under non-metallic short-circuit grounding scenarios, correcting the analysis error caused by traditional transient analyses that only consider voltage drops. Based on this, this invention constructs an adaptive virtual impedance based on voltage and current deviations and proposes a hybrid current limiting strategy for actual fault scenarios, combined with a ring current limiter. This improves the transient modeling theory of grid-type energy storage and provides a reference for enhancing overcurrent limiting capabilities under large disturbances. Hardware-in-the-loop simulation results show that this hybrid current limiting strategy can achieve effective current suppression throughout the entire fault process, laying a solid foundation for the safe operation of power electronic equipment.

The invention belongs to the technical field of vehicle software development, and particularly relates to a method for realizing hard real-time by a non-real-time system in hardware-in-loop simulation and electronic equipment, and the method for realizing hard real-time by the non-real-time system in hardware-in-loop simulation comprises the following steps: creating a real-time model task, and forming a task program; the task program automatically reads computer configuration and judges the number Z of processor cores of the current computer device, when the number Z of the cores does not exceed X, the number n of threads is set to be equal to 1 to execute the real-time model task, otherwise, the number n of the threads is set to be equal to (Z-X) / Y to execute the real-time model task, and Y represents the number of the threads of one physical core of the processor.

The invention relates to the technical field of hardware-in-loop simulation, and discloses a fault test method and system based on hardware-in-loop simulation, and the method comprises the following steps: inputting test data information to an HIL rack, and storing the test data information in a test database; analyzing a test requirement into a plurality of functional modules, matching a test item with an injection fault of the HIL rack, generating a test case, and storing the test case in a test database; according to HIL rack information and a software framework, the fault injection control code is subjected to modular packaging, and the fault injection control code subjected to modular packaging is stored in a test database in a file format; associating a test step of a test case in a test database with the fault injection control code after modular packaging to generate a test code; and executing the test code on the HIL rack to generate a test result. The problems of low automation degree, low test efficiency and the like in the prior art are solved.

The invention relates to the technical field of embedded system development and verification, and discloses a joint simulation system and method for a heterogeneous multi-core processor. The simulation module is configured to execute processor multi-core architecture simulation, multi-core parallel simulation, memory system layered modeling, peripheral and interface simulation and debugging and performance analysis; the programmable logic subsystem simulation module is configured to provide a multi-precision modeling framework and a dynamic reconstruction mechanism, the multi-precision modeling framework comprises a behavior-level model, a register transfer-level model and a hardware-in-the-loop simulation model, and the dynamic reconstruction mechanism supports model hot plugging and parameter adjustment during operation; and the interaction module is configured to execute data interaction, synchronization and joint debugging of the processor subsystem simulation module and the programmable logic subsystem simulation module. The method is suitable for software and hardware collaborative development and verification of the heterogeneous computing platform.

The application discloses an SVG fault ride-through capability evaluation method and system based on HIL simulation, a medium and equipment, comprising: acquiring photovoltaic power station operation parameters, power grid operation parameters and SVG dynamic reactive power compensation device parameters; constructing a simulation model according to the photovoltaic power station operation parameters, the power grid operation parameters and the SVG dynamic reactive power compensation device parameters, and connecting the simulation model and an SVG controller hardware; setting corresponding test parameter combinations for each test working condition according to a preset fault ride-through test method; controlling the simulation model and the SVG controller hardware to perform simulation according to a preset simulation algorithm and each test parameter combination, and obtaining simulation test results; and evaluating the simulation test results to obtain an SVG fault ride-through capability index. The application improves the reliability and accuracy of evaluating the fault voltage ride-through capability of the dynamic reactive power compensation device of the photovoltaic power station by the method based on the controller hardware-in-the-loop simulation test.

The application claims a hardware-in-the-loop pulse frequency adaptive measurement simulation device and method, which comprises: a sensor module adopting an incremental AB phase quadrature encoder, which is used to collect pulse signals generated by motor rotation, supports double-channel counting of rising edges and falling edges on A and B channels, and synchronously acquires pulse quantity and rotation direction information; a microcontroller with double independent timers, which configures a first timer as an encoder counting mode, configures a second timer as a dynamic reset mode, configures and runs a pulse count retention algorithm, a direction signal linear conversion algorithm, a counting period adaptive adjustment algorithm, a pulse jitter suppression algorithm and a noise suppression type reset time correction algorithm. Through double independent timer cooperation, multi-algorithm fusion optimization and hardware-in-the-loop simulation, the application realizes 5Hz-5kHz full-band pulse frequency adaptive measurement; supports parameter online adjustment and measurement process visualization, and is suitable for pulse frequency measurement experimental simulation scenes such as motor speed measurement.

The invention provides an unmanned aerial vehicle wind resistance test method based on a ventilation wall device, which comprises a ventilation wall, a motion capture camera system, a GNSS signal simulation generator and a central control unit, and is characterized in that the ventilation wall is arranged in an indoor test space and is composed of a multi-fan array wind power generator; by constructing an indoor test environment in which wind field simulation, motion tracking and GNSS signal simulation are coordinated, high-fidelity, quantifiable and repeatable simulation test of the outdoor flight condition of the unmanned aerial vehicle is realized. According to the method, the test efficiency and consistency are remarkably improved, and a complete technical basis is provided for hardware-in-the-loop simulation and comprehensive verification of an unmanned aerial vehicle flight control system.

The application provides an integrated simulation test method for a grid-forming inverter or converter, simulation grid signal construction units and motor signal construction units are respectively established, and three-phase virtual grid voltage simulation signals or three-phase motor virtual signals obtained by the simulation grid signal construction units and the motor signal construction units are input into an electrical system model for simulation experiment. The application has the beneficial effect of providing a convenient and efficient integrated simulation test method for hardware-in-the-loop simulation of a grid-forming converter. Users can realize on-site complex working condition reproduction according to actual needs through free combination of different functional modules, thereby improving simulation degree, and one-time customized complex simulation experiment is completed. The number of hardware-in-the-loop simulation models of the converter product is reduced, simulation model switching and preparation time is effectively reduced, simulation model management iteration is more simple and efficient, and the control algorithm development and simulation test efficiency of the grid-forming converter product is significantly improved.

This invention relates to the field of agricultural equipment technology, specifically to a method for evaluating the overall dynamic performance of a hybrid tractor by integrating multiple operating condition parameters. The method includes: real-time acquisition of environmental operating condition parameter sets, task parameter sets, and energy flow dynamic parameter sets; constructing a dynamic coupling mathematical model based on the above parameter sets, calculating the overall dynamic performance characteristic values ​​at steady-state and transient operating points respectively, and generating a set of overall dynamic performance evaluation indicators; inputting the evaluation indicator set into a hardware-in-the-loop simulation platform, and verifying the effectiveness of the evaluation indicators through multi-modal operating condition simulation; constructing a three-dimensional dynamic performance evaluation map based on the verified evaluation indicators, dividing it into dynamic performance zones, and outputting it to the on-board intelligent terminal in real time, while simultaneously generating an adaptive control command set when entering the failure zone. This invention enables multi-source information fusion modeling, full-condition dynamic response evaluation, and visual map feedback, improving the dynamic adaptability and intelligent control of hybrid tractors in complex operating scenarios.

The present disclosure provides a power-hardware-in-the-loop simulation system, which includes an amplifier, a sensing module, an optimizer and a control module. The amplifier is electrically connected to the device under test, the optimizer is electrically connected to the sensing module, and the control module is electrically connected to the optimizer and the amplifier. The sensing module senses a voltage value of the device under test, and the optimizer obtains a voltage value of the equivalent current source model of a real-time simulator associated with the device under test, and then calculates the reference current value based on a voltage difference between the voltage value of the device under test and the voltage value of the equivalent current source model of the real-time simulator associated with the device under test. The control module controls the amplifier based on the reference current value.

The application relates to the technical field of automobile electronic hardware-in-the-loop test, in particular to a wheel speed sensor hardware-in-the-loop simulation system and method, which comprises a wheel speed simulator, an actual vehicle wheel speed sensor, an actual vehicle gear ring and an upper computer, the wheel speed simulator comprises a motor, a motor controller, a gear ring fixing mechanism, a wheel speed sensor adjusting mechanism and an ABS / ESC controller; the application calculates target wheel speeds of each wheel through a vehicle dynamics model of the upper computer, drives the motor to coaxially rotate the actual vehicle gear ring, collects wheel speed signals through the actual vehicle wheel speed sensor and sends the wheel speed signals into the ABS / ESC controller, and then feeds back to the upper computer through a CAN network to form a closed-loop simulation, the core algorithm comprises four parts of signal generation, signal processing, mode switching and test verification; the application can discover and solve potential problems in the early development stage, improves test repeatability, effectively shortens the development cycle, reduces the research and development cost, and avoids the risk of hardware modification and product recall in the later stage.