Poster Presentation

Dr. Huang Qian, Beijing Institute of Technology, China
Professor Ying Huang, Beijing Institute of Technology, China

Now, as an important technology of ECU development, hardware-in-the-loop (HIL) is widely used in control algorithm validation, diagnose function testing and virtual calibration. The most outstanding feature of HIL is that it uses mathematic models to substitute parts of real environment and equipments in the whole closed loop testing system. Usually, the ECU and some actuators are real, and the controlled objects and sensors are substituted by mathematic models. Using HIL technology, the ECU can be tested in lab. The calibration costs and development time can be saved. Simulink is a mathematic modeling tool which widely used in different scientific domains. Using the system identification toolbox in Simulink, proportional electromagnet-rack model is built. A mean value mathematical model of the engine is also applied. dSPACE is a real time simulation system and can be seamlessly compatible with Matlab/Simulink. Combining dSPACE and models built in Simulink, a HIL simulation platform of electric governor is constructed. Using such simulation environment, the control strategies of the electric governor can be validated; some control parameters can be virtually calibrated and then applied in bench experiments. Real time simulation model with high fidelity is the key of HIL technology. The way to build electromagnet-rack model by system identification toolbox is simpler and more effective, but it highly depends on the input-output data of the real objects. According to step response and triangle response of the bench experiment results and comparing with the HIL simulation results, the dynamic characteristics of the electromagnet-rack model can satisfy the HIL simulation requirements in this application. The rack PID controller and speed PID controller are considered independent to each other, so they are calibrated respectively. Except the three main parameters of the rack PID controller, the initial value of integration term and the maximum output value will also affect the control quality of the rack response characteristic. The virtual calibrated parameters of the controllers are adopted in the bench experiment. The value of control parameters should be corrected to satisfy the stability and dynamic characteristic of engine speed control. Correcting the proportion term can improve the dynamic response speed; correcting the integral term can reduce the overshoot of the control system.

Poster presentation: Virtual reality