Advanced Evaluation Techniques and Hardware-In-The-Loop Simulation by qbm49310

VIEWS: 13 PAGES: 32

									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
  Testing and Evaluation of
  control equipment/algorithms
  with a simulated plant
What is HITL
           Control      Real World
 Goal      Equipment    Traffic




 Typical   Simulated    Simulated
           Controller   Plant


           Control      Simulated
 HITL      Equipment    Plant
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
  Closed Loop Software
  to System Master
  RS-232 from




           Closed Loop Management Softw are
Hmm.
 What if we could control a suitcase
 tester with a computer.

 Monitor 24 volt phase outputs
 Ground loop detector inputs as directed.
                                   RS-232 from
                                   Closed Loop Software
                                   to System Master




Closed Loop Management Softw are
                                   RS-232 from
                                   CORSIM to Simulation
                                   Interface Network




CORSIM Netw ork Simulation
                                                          Performance Based Evaluation
                                   RS-232 from
                                   Closed Loop Software
                                   to System Master




Closed Loop Management Softw are
                                   RS-232 from
                                   CORSIM to Simulation
                                   Interface Network




CORSIM Netw ork Simulation
                                                          Still Do Suite Case Testing
                                                                                            w/
                                                                                            Setup

                                                                                            Master
                                                                                            System



                                                                                            Closed Loop Communication Interconnect Cable



                                                              RS-232 from
                                                              Closed Loop Software
                                                              to System Master
                                                                                                                                              Loop
                                                                                                                                             Closed

                                                                                                                                             Network




                            Closed Loop Management Software
                                                                     RS-232 from
                                                                     CORSIM to Simulation
                                                                     Interface Network




                                                                                                                        RS-422
                                                                                                                         CID
                                                                                                                                                Network




                                                                                                                        Network
                                                                                                                                              Device (CID)
                                                                                                                                           Controller Interface




CORSIM Network Simulation
                                                                                                                                           Real
                                                                                                                                           World
                                                                                                                                           Model
Alternative to HITL
  Suitcase 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 Perspective
  HITL 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 Logic
  1986 worked on a speed sieve design
  for gate control at the IBM Essex
  Junction Plant
  1987 senior design project worked with
  EE student and.. he built the control
  hardware.. I built a simulator in Modula
  II.
1993
 Moved to LSU in Baton Rouge, LA
 Tom Urbanik invites me to participate
 with his team on the IVHS Research
 Center Proposal
 Developed HITL concept for Smart
 Diamond Testing
Dec 1993 Smart Diamond Testing
Concept
1994 Smart Diamond Test Plan
1994 Smart Diamond Equipment
Concept
Further Developments
  TexSIM developed for Smart Diamond
     Monty willl discuss next
  CORSIM extended for hardware in the
  loop
Controller Interface Device
(CID) ~1997
1997-Present CID Uses
  Testing ACS Lite algorithms
  Algorithm development
  Controller feature testing
  Laboratory Based Instruction
1997 – Present Hardware
  TTI Platform
  Idaha Platform
  Univ. of Minnesota Platform
  Naztec/Eagle Platform
  Portland PLC Platform
  Emergence of a Software Platform (Univ
  of Arizona, Siemens, Univ of Utah)
Purdue HITL Laboratory
Project Setup
 Choose a real system to design and
 simulate
 Obtain plans, volumes, etc. from DOT
 Systems that are being constructed,
 need to be upgraded, or were recently
 upgraded are ideal
Project Selections
Project: Design Process
 Calculate timing parameters
  Node 16
                                                         SBLT       NB    WBLT   EB    NBLT   SB    EBLT   WB
       Parameter                  Calculation             1          2     3      4     5      6     7      8
                         Main Street Through 10s
 Minimum Green           Side Street Through 7s            5        10     5     7      5     10    5      7
                         All Left Turns       5s
                                          1.47 * V v
                         Yellow  Tp 
 Yellow Clearance
                                              2a         3.0       4.0    3.0    3.5   3.0    4.0   3.0    3.5
                                    W L
                          Red 
 Red Clearance
                                  1.47 * V v             1.5       2.0    1.5    2.0   1.5    2.0   1.5    2.0
                                (# of Lanes * c) - .5c
                      Ped Clr 
 Pedestrian Clearance                   Vw                          15           15           15           15
 Pedestrian Walk                  7 seconds                          7           7            7            7
 Max 1 Green              Max1 = 1.3 * Synchro Split      20        50    20     40    20     50    20     40
                         For 3 second Veh Ext:
 Vehicle Extension
                         Veh Ext = 3 sec - GapAllow      3.0       2.5    3.0    2.5   3.0    2.5   3.0    2.5

                         Tp = perception time (usually 1 sec.)
                         Vv = average vehicle speed on approach (mph)
                         a = deceleration rate (10 feet/s2)
                         W = adjacent approach width (feet)
                         L = average vehicle length (usually 20 feet)
                         c = lane width (feet)
                                                                      2
                         Vw = average walking speed (usually 4 feet/s )
                                    L  DetectorLength(feet)
                         GapAllow 
                                           1.47* Vv
Project: Design Process
 Obtain 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




                             CORSIM
       ITRAF
I/O Mapping
  Vehicle sensors are mapped to the
  corresponding phases by the students
                                    Controller



Controller
Mapping
                                 Detector
                                 Cards
“Final Lab Exam”
  1 controller plugged
  into 1 CID for each
  intersection
  All CIDs plugged in
  to 1 PC running
  CORSIM
  All 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 Challenges
  Commercially viable CIDs that supports both
  TS2 Type 1 and Type 2 I/O AND a
  Well supported integration with an accepted
  simulation model (CORSIM)
  Blurring of software/hardware in the loop
  Formally addressing the timing latency issue
  between simulation clock and controller.

								
To top