Advanced Evaluation Techniques and Hardware-In-The-Loop Simulation
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Advanced Evaluation Techniques and Hardware-In-The-Loop Simulation Darcy Bullock, P.E. Professor Purdue University
description
Advanced Evaluation Techniques and Hardware-In-The-Loop Simulation. Darcy Bullock, P.E. Professor Purdue University. Requested Topics. What is Hardware-in-the-Loop (HITL) Why would you use it Historical Perspective Future Challenges. What is HITL. - PowerPoint PPT Presentation
Transcript of Advanced Evaluation Techniques and Hardware-In-The-Loop Simulation
Advanced Evaluation Techniques and Hardware-In-The-Loop Simulation
Darcy Bullock, P.E.ProfessorPurdue University
Requested TopicsWhat is Hardware-in-the-Loop (HITL)Why would you use itHistorical PerspectiveFuture Challenges
What is HITLTesting and Evaluation of control equipment/algorithms with a simulated plant
What is HITLGoal
Typical
HITL
SimulatedController
SimulatedPlant
Control Equipment
SimulatedPlant
Control Equipment
Real World Traffic
Why would you want to use HITL
So you can make mistakes (and learn from them) in the lab, not the field. Then when you deploy, there should be fewer surprises.So you have a controlled environment in which to experiment and quantify benefits.So you have a facility for students to try things and learn from their mistakes.Probe the “corners” of a control system without worrying about the consequences of failure
Functional Evaluation
Hmm.What if we could control a suitcase tester with a computer.
Monitor 24 volt phase outputsGround loop detector inputs as directed.
Performance Based Evaluation
Still Do Suite Case Testing
SystemSetupw/Master
ClosedLoop
Netw ork
Closed Loop Managem ent Software
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CID
Net
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CORSIM Network S im ula tion
Controller InterfaceDevice (CID)
Netw ork
RealW orldModel
Alternative to HITLSuitcase tester Ok feature individual tester Virtually impossible to evaluate
interaction of various features on a single controller much less a “system” of controllers
“Full Up Testing”…. Plug everything together and hope they work
Historical PerspectiveHITL has been used extensively by other industries for several decades.1985 at University of Vermont when Prof Bob Dawson explained his simulation system for testing/developing the control system on a PDP-11 controlling the gravel washing/production system.
Gate Control Logic1986 worked on a speed sieve design for gate control at the IBM Essex Junction Plant1987 senior design project worked with EE student and.. he built the control hardware.. I built a simulator in Modula II.
1993Moved to LSU in Baton Rouge, LATom Urbanik invites me to participate with his team on the IVHS Research Center ProposalDeveloped HITL concept for Smart Diamond Testing
Dec 1993 Smart Diamond Testing Concept
1994 Smart Diamond Test Plan
1994 Smart Diamond Equipment Concept
Further DevelopmentsTexSIM developed for Smart Diamond Monty willl discuss nextCORSIM extended for hardware in the loop
Controller Interface Device(CID) ~1997
1997-Present CID Uses Testing ACS Lite algorithmsAlgorithm developmentController feature testingLaboratory Based Instruction
1997 – Present HardwareTTI PlatformIdaha PlatformUniv. of Minnesota PlatformNaztec/Eagle PlatformPortland PLC PlatformEmergence of a Software Platform (Univ of Arizona, Siemens, Univ of Utah)
Purdue HITL Laboratory
Project SetupChoose a real system to design and simulateObtain plans, volumes, etc. from DOTSystems that are being constructed, need to be upgraded, or were recently upgraded are ideal
Project Selections
S B L T N B W B L T E B N B L T S B E B L T W B1 2 3 4 5 6 7 8
M a i n S t r e e t T h r o u g h 1 0 sS i d e S t r e e t T h r o u g h 7 sA l l L e f t T u r n s 5 s
Y e l l o w C l e a r a n c e
R e d C l e a r a n c e
P e d e s t r i a n C l e a r a n c e
P e d e s t r i a n W a l k 7 s e c o n d s
M a x 1 G r e e n M a x 1 = 1 . 3 * S y n c h r o S p l i t
V e h i c l e E x t e n s i o nF o r 3 s e c o n d V e h E x t : V e h E x t = 3 s e c - G a p A l l o w
T p = p e r c e p t i o n t i m e ( u s u a l l y 1 s e c . )V v = a v e r a g e v e h i c l e s p e e d o n a p p r o a c h ( m p h )
a = d e c e l e r a t i o n r a t e ( 1 0 f e e t / s 2 )W = a d j a c e n t a p p r o a c h w i d t h ( f e e t )L = a v e r a g e v e h i c l e l e n g t h ( u s u a l l y 2 0 f e e t )c = l a n e w i d t h ( f e e t )V w = a v e r a g e w a l k i n g s p e e d ( u s u a l l y 4 f e e t / s 2 )
M i n i m u m G r e e n
N o d e 1 6
P a r a m e t e r C a l c u l a t i o n
2aV * 1 .47 T Yellow v
p
vV * 1.47L W
Red
wV.5c - c) * Lanes of (#
Clr Ped
vAllow V * 1 .4 7
(f eet)Len g th D etecto r L G ap
Project: Design ProcessCalculate timing parameters
5 5 5 510 107 7
3.0 3.0 3.0 3.04.0 4.03.5 3.51.5 1.5 1.5 1.52.0 2.02.0 2.0
20 20 20 2050 5040 403.0 3.0 3.0 3.02.5 2.52.5 2.5
15 1515 157 77 7
Project: Design ProcessObtain cycles, offsets, and splits from Synchro or Highway Capacity Software
Project: Real-Time Simulation
Controllers are configured with the calculated timings and coordination timings
Project: Real-Time Simulation
Simulation model is built using proposed geometries and vehicle volumes and imported into CORSIM
ITRAF CORSIM
I/O MappingVehicle sensors are mapped to the corresponding phases by the students
DetectorCards
Controller
ControllerMapping
“Final Lab Exam”1 controller plugged into 1 CID for each intersectionAll CIDs plugged in to 1 PC running CORSIMAll controllers plugged in to 1 PC running remote software
Closed Loop Monitoring Screens
PC set up to monitor the system remotely Change
controller parameters
View signal and detector status
For future HITL ChallengesCommercially viable CIDs that supports both TS2 Type 1 and Type 2 I/O AND aWell supported integration with an accepted simulation model (CORSIM)Blurring of software/hardware in the loopFormally addressing the timing latency issue between simulation clock and controller.
