Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory
Autor(a) principal: | |
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Data de Publicação: | 2004 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://repositorio-aberto.up.pt/handle/10216/7131 |
Resumo: | Physical modelling of hydraulic systems results in systems of differential and algebraic equations (DAEs) that are normally stiff. This is because they often include multiple temporal scales and present complex and non-linear behaviour. The simulation of these stiff DAEs in real time demands small time steps, in order to achieve algorithm stability, because explicit fixed step solvers are usually applied. Modelling some fast dynamics as instantaneous changes in order to reduce the models stiffness has been an area of research in the last few years. The description of the dynamic behaviour as piecewise continuous modes, interspersed with discrete transitions, together with the reduction in the model complexity, facilitates the use of fixed time step integration methods and thus allows real-time simulation. The main goal of this work was to obtain not too complex models in order to allow the models to be used in hardware-in-the-loop experiments. This paper proposes the use of the statecharts formalism to describe hybrid behaviour in hydraulic systems and presents semiempirical models of a valve controlled hydraulic cylinder intended to test real controller performance on a hardware-in-the-loop setup. These semiempirical models require less computing power, and it is easier to adjust the model parameters. |
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Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: TheoryPhysical modelling of hydraulic systems results in systems of differential and algebraic equations (DAEs) that are normally stiff. This is because they often include multiple temporal scales and present complex and non-linear behaviour. The simulation of these stiff DAEs in real time demands small time steps, in order to achieve algorithm stability, because explicit fixed step solvers are usually applied. Modelling some fast dynamics as instantaneous changes in order to reduce the models stiffness has been an area of research in the last few years. The description of the dynamic behaviour as piecewise continuous modes, interspersed with discrete transitions, together with the reduction in the model complexity, facilitates the use of fixed time step integration methods and thus allows real-time simulation. The main goal of this work was to obtain not too complex models in order to allow the models to be used in hardware-in-the-loop experiments. This paper proposes the use of the statecharts formalism to describe hybrid behaviour in hydraulic systems and presents semiempirical models of a valve controlled hydraulic cylinder intended to test real controller performance on a hardware-in-the-loop setup. These semiempirical models require less computing power, and it is easier to adjust the model parameters.20042004-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://repositorio-aberto.up.pt/handle/10216/7131eng0959651810.1243/0959651052010124J. A. FerreiraF. Gomes AlmeidaM. R. QuintasJ. P. Estima de Oliveirainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T14:20:21Zoai:repositorio-aberto.up.pt:10216/7131Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:59:13.914056Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory |
title |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory |
spellingShingle |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory J. A. Ferreira |
title_short |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory |
title_full |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory |
title_fullStr |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory |
title_full_unstemmed |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory |
title_sort |
Hybrid models of hydraulic systems for hardware-in-the-loop simulation. Part 1: Theory |
author |
J. A. Ferreira |
author_facet |
J. A. Ferreira F. Gomes Almeida M. R. Quintas J. P. Estima de Oliveira |
author_role |
author |
author2 |
F. Gomes Almeida M. R. Quintas J. P. Estima de Oliveira |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
J. A. Ferreira F. Gomes Almeida M. R. Quintas J. P. Estima de Oliveira |
description |
Physical modelling of hydraulic systems results in systems of differential and algebraic equations (DAEs) that are normally stiff. This is because they often include multiple temporal scales and present complex and non-linear behaviour. The simulation of these stiff DAEs in real time demands small time steps, in order to achieve algorithm stability, because explicit fixed step solvers are usually applied. Modelling some fast dynamics as instantaneous changes in order to reduce the models stiffness has been an area of research in the last few years. The description of the dynamic behaviour as piecewise continuous modes, interspersed with discrete transitions, together with the reduction in the model complexity, facilitates the use of fixed time step integration methods and thus allows real-time simulation. The main goal of this work was to obtain not too complex models in order to allow the models to be used in hardware-in-the-loop experiments. This paper proposes the use of the statecharts formalism to describe hybrid behaviour in hydraulic systems and presents semiempirical models of a valve controlled hydraulic cylinder intended to test real controller performance on a hardware-in-the-loop setup. These semiempirical models require less computing power, and it is easier to adjust the model parameters. |
publishDate |
2004 |
dc.date.none.fl_str_mv |
2004 2004-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://repositorio-aberto.up.pt/handle/10216/7131 |
url |
https://repositorio-aberto.up.pt/handle/10216/7131 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
09596518 10.1243/0959651052010124 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799135915977736192 |