Education & Research With SH2 at Oakland University Academic Overview of the Collaboration Between...

Education & Research With SH2at Oakland University

Academic Overview of the Collaboration Between Oakland University – Hitachi America

Prof Ka C. Cheok & Dr. G. E. SmidDepartment of Electrical & Systems Engineering

April 20, 2001 Oakland University - Hitachi America 2

Detroit – USA

Hitachi-AmericaSales, Marketing and Technical Center

Oakland UniversityDept. of Electrical & Systems Engineering


Oakland University

• 16000 students• 1600 Engineering• 800 M.Sc.• 60 Ph.D. students• Locations 30 mins to Big Three car companies and

various automotive suppliers• Majority of OU graduates works in auto industry


• Dynamic & Control• Industrial & Mobile Robots• Computer-based Systems Control• Computer Simulations• Mechatronics• Communication Electronics• VLSI• Manufacturng Systems

Electrical & SystemsEngineering Department


SH2 in Education

• Systems Behavior/Control Principles• Microcomputers/Microcontrollers• Computer Interface• Signal Conditioning Electronics• Sensors & Actuators• Mechanical Mechanism

Mechatronics & Computer Control Systems Courses


Mechatronics Lab

CAE Tools• Simulation

• Data acquisition

• Analysis

• Design

• Computer methods

Projects


Hitachi Embedded Microcontroller Lab

Learning Experience• PC-based control

• uP-based control

State-of-the-Art• Methodology

• Technology

Integrated Systems• Multidisplinary

• Resources

• Team effort

• Scheduling

• Project management

EE4/572 Microcomputer Control Systems


Hitachi Donation & Support

• 11 SH2 7055 EVBs• 15 H-8 EVBs• HEW, HDI• MakeApp• TargetLink (dSpace donation)• Funding


EE/SYS4/575AUTOMOTIVE MECHATRONICS IAspects of Design, Analysis, Synthesis

EE/SYS675AUTOMOTIVE MECHATRONICS II

Aspects of Microcomputer & Microcontrollers

EE4/572MICROCOMPUTER-BASED

CONTROL SYSTEMSAspects of computer control

EE222ELECTRICAL CIRCUITS

Circuits analysis, op-amp filters

ME221

STATIC & DYNAMICSMechanical systems

ECE171PROGRAMMING LANGUAGE

C/C++, Matlab/Simulnk

EE326ELECTRONIC CIRCUITSTransistors, FET, amplifiers

EE378DESIGN OF DIGITAL SYSTEMS

Logic, TTL, CMOS

SYS325LUMPED PARAMETER SYSTEMSRepresentation of Signals & Systems

EE351

ELECtROMECHANICAL ENERGY CONVERSION

EE345ELECTRIC &

MAGNETIC FIELDS

EE470MICROPROCESSOR SYSTEMS

Programming & Application Examples

SYS431AUTOMATIC CONTROL SYSTEMS

Feedback Design & Analysis

SYS433MODERN CONTROL SYSTEMS

Feedback Design & Analysis

EE437COMMUNICATION

ELECTRONICS

Computer Control Mechatronics Course Option at Electrical & Systems Engineering Department at

Oakland University


EXECUTION

EXECUTIVEKnowledge & Decision

Memory Rules Rules to change itself

Perception Signal processing Pattern recognition

Command Control principles Prediction

Increasing Precision

Increasing IntelligentDecision

Computer Control for Mechatronic Systems

Output Signal Conditioning Power electronics, Driver devices Modulation schemes

Input Signal Conditioning Analog electronics Digital electronics Signal processing

Computer Output Interface

Computer Input Interface

Sensory Systems Transducers

Actuators motors, engine gears

Mechanical process


Unicycle Balancing Control System

Self-leveling Stabilized Platform

Stewart Platform Motion Base System

Vision-based Navigation Mobile Robot

Radar-based Object Detection and Collision Avoidance

Sonar-based Object Detection and Collision Avoidance

Laser-Camera-based Object Detection and Collision Avoidance

Virtual Reality Modeling with Vision-based Navigation Virtual Vehicle

GPS-based Navigation & Guidance for Mobile Robot

Engine Control Simulation & Experiment

Vision-based Target Locking Tracking System

Cruise Speed Control with Head-up Display (HUD)

Speech Recognition

Examples of student projects

Challenge

ThinkQuestion

Discover Learn

EntertainCreative


ProductShipmentProduct

TestingProductTooling

6 12 18 24 mos

ProductPrototype

ConceptPrototype

A “typical ideal” plan

Quality improves …

Cost increases …

Time increases

$50k to $500k

$500k to $5 mil

ConceptStudies

University Involvement

Industry Involvement

From Concept to Mechatronic Product


Concept Studies• Review of Methodology & Technology• Computer Simulation• Demonstrate Proof of Principles

Concept Prototype• PC-based Implementation• Embedded P Implementation• Proof of Technologies


• Study of Behavioral Performance– transient, frequency, stability, nonlinearity, uncertainty

• PC-based Rapid Prototyping of Controller– evaluation of control scheme using high level language enhances

successful implementation of sophisticated principles & algorithm

– Ease of programming, parameter tuning, graphical visualization, etc.

Real-Time Windows Target

PC I/O Interface

Electronics &

Mechanical

Systems

PC-based Proof of Principles



• Focus less on programming/coding• Focus more on experiment, calibration & tuning • Proof of Concept/Principles


PC I/O Interface NI-DAQ MI-50-AT

Stabilized Platform

Matlab/Simulink schematic diagram implements functions

Graphical visualization of results Test Equipment


• Demonstration of Technologies – capabilities, speed, cost, size, weight, integration

• Rapid Prototyping of Embedded P Controller– Hardware & software development

– Debugging of program, parameter tuning, etc..

– Stand alone system

Embedded P

Electronics &

Mechanical

Systems

Embedded P Proof of Technologies


MakeApp autocodes I/O Functions

TargetLink autocodes Application Functions

Embedded SH2 7055 EVB

ProjectHitachi Embedded Workshop

Downloadable CodeHitachi Development Interface

Embedded P Stabilized

Platform

SH7055 EVB

Matlab/Simulink for Visualization & Tuning

Graphical visualization of results

• Effort focus on autocoding• Scaling factors, saturation,

fixed/floating point• Fine tuning of parameters• Stand alone


SH2 in Class Projects

Mobile RobotEngine Throttle Control

•Battery monitor/charger Engine Idle Speed Control


SH2 in Class Projects

Mobile RobotEngine Throttle Control

•Battery monitor/charger

Engine Idle Speed Control


• Throttle is closed => Engine is Idling

• Calculate desired Idle speed depending upon operating conditions (temperature, load etc)

• Regulate the mass air flow (and apply feedback)

Engine Idle Speed Control


SimCar is a Matlab/Simulink model of a gasoline engine

Overview – SimCar


• Implemented PID idle speed control on SimCar (tuned via Ziegler-Nichols & Classical Control Technique)

Open-Loop Control PID Control

Simulation


• Implemented PID idle speed control on actual V8 engine at Hitachi-America lab (tuned via Ziegler-Nichols & manually)

Experiment


Engine Control at Hitachi-America Lab… A Rapid-Prototyping Approach

APPLICATION SOFTWARE

Ignition Injection Idle SpeedMatlab / Simulink Model

Target Link Model

KERNEL SOFTWARE

BIOSMakeApp

Operating SystemOsek Configurator

ProjectHitachi Embedded Workshop

Downloadable CodeHitachi Development Interface

SH7055 EVB


SH7055 EVBDownloadable CodeHitachi Development Interface

Interface Board

RackFord – V8, 4.6lt Engine

Engine Real-Time ControlHardware Setup at Hitachi America Lab


• Accomplishments– Learn basics of engine control

– Learn modeling and simulation of engine control via SimCar

– Learn software development & experimental setup for rapid prototyping of real-time engine using SH2 micro (hardware in the loop)

• Problems Encountered– Steep learning curve (especially in the beginning)!

– SimCar doesn’t represent precisely true behavior of the engine under investigation

• Credits

– Industry experience at Hitachi America Lab

– Thanks to Dr. T. Oho, Dr. G. Sarkalis, Stephen and colleagues.

Students Experiences


SH2 in Research

• HMMWV Collision Warning

• Ground Robotics

• Automatic Lawn Mower &

Stabilized platform

• Vehicle Dynamics Simulation


ResearchHMMWV Collision Warning

• Objective– Design and Evaluate a Collision Warning and

Avoidance System with multiple sensors

• Approach– Develop Sensor Fusion and Kalman Filter Algorithms

in Simulink with Threat Assessment

• Implementation– Laser radar, Millimeter-wave radar, Sonar, Vision– Implement Controller in SH-7055 with Simulink– Brake actuator and Throttle relaxer


dr , Vr

Come from kalman filter

v2

v1

v2v1

Tr T bTc

Vr

Dmin = Vr / T b

Dmax = V r / T bmin

Time

T bmin

CWI0 1

Safe Alert Danger

Minimum needed deceleration

Time to collision

Human reaciton time Computed remaining time to brake

Tc = dr / Vr

Tb = Tc - Tr

Dmin = Vr / T b

Dmax = V r / T bmin

CWI = Dmin / Dmax

= T bmin / T b



ResearchGround Robotics

• Objective– Student teams build an autonomous robotic vehicle

that can negotiate an obstacle course

• Approach– Develop a mobile robot, equipped with vision and

sonar in a real-time control environment

• Implementation– Sonar, Vision

– Implement Controller in SH8 through Simulink

– DC Motors, typically skid-steer


ResearchGround Robotics

Intelligent Ground Vehicle Competition Winners include Hosei University, Japan


ResearchStabilizing Platform

• Objective– Automatically Level a platform on a floating base

• Approach– Design a Closed-Loop Controller with Kalman

Filter independent for X and Y

• Implementation– Accelerometer and Rate Gyro Sensors

– Implement Controller in SH-7055 1ms cycle


ResearchAutomatic Lawn Mower


ResearchVehicle Dynamics Simulation

• Objective:– Develop Full Vehicle State Observer

• Approach:– Embed Full Vehicle Dynamics Model in Real-Time

Micro-Processor Environment

• Implementation:– Driver Inputs and IO through CAN

– Hitachi SH-7055


Other Research Collaborations

• Ford Motor Company – Pre-Crash Sensing• DaimlerChrysler – Hybrid-Electric Vehicle • US Army TACOM – Collision Warning• ITT Automotive – Anti-Lock Brake System• Saturn Electronics – Traction Control• Chrysler – Virtual Prototyping• Ford Motor Company – Data Validation• Dana Corporation – Virtual Test Rig


Closing• Hitachi SH-2 provides excellent solution for rapid

prototyping of controllers for mechatronics systems

• Software development tools are easy to use (Matlab/Simulink/TargetLink/MakeApp Code-Generation)

• Latest Technologies & Methodologies employed in Education and Research

• Conducive environment for academic-industry project collaboration


Oakland University appeciates Hitachi America support and intends to

continue the fruitful collaboration

Education & Research With SH2 at Oakland University Academic Overview of the Collaboration Between...

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