A HARDWARE-IN-THE-LOOP (HIL) BENCH TEST OF A GT-POWER … · a hardware-in-the-loop (hil) bench...
Transcript of A HARDWARE-IN-THE-LOOP (HIL) BENCH TEST OF A GT-POWER … · a hardware-in-the-loop (hil) bench...
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A HARDWARE-IN-THE-LOOP (HIL) BENCH TEST OF A GT-POWER FAST RUNNING MODEL (FRM) FOR RAPID CONTROL PROTOTYPING (RCP) VERIFICATION
Hai Wu, Meng-Feng Li, General Motors
Key Words:
FRM - Fast Running Model
H I L - Hardware-in-the-loop
RCP - Rapid Control Prototyping
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• Objective
• Hard/Soft-ware Setup
• Model Conversion
• Co-Simulation
• Test Results
• Conclusion
Outline
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Engine System Models for HIL Test
• PDE Model, Mean Value model, ODE Model
• GT-POWER is a PDE based 1D modeling tool
• Availability and reusability from the upstream
Challenges
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Challenges in HIL Simulation
• Reusing the available models
• Tuning parameters
• Keeping consistency
• Having real-time capability
Map
Mean Value
1-D Fast Running Model (FRM)
1-D Detail
X Real-time0.1 1 10 100
Comple
xity
Har
dw
are
HIL
ECU
PC
3-D Model
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Mean Value, Map Based, ODE Model
• No breathing or combustion predictions
• Air flow, piston work, and exhaust energy
imposed via neural networks
Advantages of GT-POWER Model
• Fidelity, availability, tailoring flexibility, extendibility
• Co-simulation verification
Advantages of FRM
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Fast Running Model (FRM)
• It is a speed-tuned version of a standard,
detailed GT-POWER model
• Time-step level of detail can be adjusted by user
• Easy to convert (Combine Volume Wizard, FRM
Converter)
• Fully predictive solution
Map
Mean Value
1-D Fast Running Model (FRM)
1-D Detail
X Real-time0.1 1 10 100
Comple
xity
Har
dw
are
HIL
ECU
PC
3-D Model
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GT-POWER Model Conversion
• Volume size and discretization
• Optimization and parameterization
• Simulation comparisons by steps
Co-simulation with Matlab/Simulink
• Simulink S-function
• Controller designed and verified within Simulink
Hardware
• FRM on dSPACE Simulator (DS1006)
• RCP HIL for real-time capability test
• Comparison with GT model results
Process and Setup
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GT-POWER
FRM Simulink
HIL RCP
Procedure
• Convert GT detailed model into FRM
• Test FRM on HIL for real-time capability
• Comparison results of HIL and GT model
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GT-POWER Detailed
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5-10 times of RT
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Detailed Model to FRM
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1 2
3
3 54
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1 2
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Consider:Highest fluctuations in velocities causes restrictions to the time step• Reduce Volume number, • Discretization size, Procedure: Starting from the Exhaust Ports/Runners, then move outwardCombine volumes: • Exhaust Ports and Runners (not including Manifold) • Exhaust Ports, Runners, and Manifold (depending on the Accuracy vs. Run Time goal) • Exhaust Pipes after Turbine • Intake Pipes before Compressor Perform calibration:Calibrating an Orifice Diameter is the most common way to calibrate pressure lossCalibrating the Heat Transfer Multiplier is the most common way to calibrate Temperature in a certain location (e.g. Turbine Inlet Temperature) Completion:when the desired compromise of Run Time and Accuracy is achieved.
Detailed Model to FRM
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FRM Converter Tool
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Key Variables
• BMEP
• BSFC
• Vol-eff
• etc.
Parameter Tuning
• Optimize pressure and
Temp for data
Different Steps
• Management
• Comparison
HIL Goal
• Reduce run-time
• Keep accuracy
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FRM – Fast Running Model
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Results Comparison
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Co-simulation
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Replace Feedback Controllers
• Turbo Changer control
• A/F Ratio
• BMEP/Torque Control
GT-POWER S-function
• Sensors (signal Input )
• Actuators (signal Output )
Control Design in Simulink
• PID
• Model based Control
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HIL Simulator with DS1006
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Controller
Real-time solver
Offline solver
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Test Results: BMEP
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Test Results: BMEP and Throttle
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Test Results: Spark Timing on P_cyl
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Test Results: 20 deg ATDC
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• The Advantages: align HIL with R&P
Model is available and reusable
• Conversion Process and Tool
Easy in conversion and tuning with optimization
• Control Design and verification with Co-simulation
Be capable of Engine and ECU simulation
• HIL tests
FRM runs on dSPACE DS 1006 successfully
• Comparison with GT-POWER Simulation
Agree well both in steady and transient
• GT-POWER-FRM-HIL is applicable & extendable
Inherit models, convert seamlessly, and run in real-time
Summary and Conclusion
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The authors would like to express their appreciations to
• Gamma Technology
Iakovos Papadimitriou
Miles Melka
Kevin Roggendorf
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Acknowledgements
• General Motors R&D
Orgun A Guralp
Jonathan Dawson
Xiaofeng Yang
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Thank you for your attention!
Published in SAE: 2016-01-0549
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