advanced evaluation techniques and hardware-in- the-loop simulation darcy bullock, p.e. professor...
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![Page 1: Advanced Evaluation Techniques and Hardware-In- The-Loop Simulation Darcy Bullock, P.E. Professor Purdue University](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649dba5503460f94aab153/html5/thumbnails/1.jpg)
Advanced Evaluation Techniques and Hardware-In-The-Loop Simulation
Darcy Bullock, P.E.ProfessorPurdue University
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Requested Topics
What is Hardware-in-the-Loop (HITL)Why would you use itHistorical PerspectiveFuture Challenges
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What is HITL
Testing and Evaluation of control equipment/algorithms with a simulated plant
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What is HITL
Goal
Typical
HITL
SimulatedController
SimulatedPlant
Control Equipment
SimulatedPlant
Control Equipment
Real World Traffic
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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
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Functional Evaluation
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Hmm.
What if we could control a suitcase tester with a computer.
Monitor 24 volt phase outputsGround loop detector inputs as directed.
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Performance Based Evaluation
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Still Do Suite Case Testing
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SystemSetupw/Master
ClosedLoop
Netw ork
Closed Loop Managem ent Software
Clo
sed
Loop
Com
mun
icat
ion
Inte
rcon
nect
Cab
le
RS
-232
fro
mC
lose
d L
oop
Sof
twar
eto
Sys
tem
Mas
ter
RS
-232
fro
mC
OR
SIM
to
Sim
ulat
ion
Inte
rfac
e N
etw
ork
RS
-422
CID
Net
wor
k
CO RSIM Network S im ulation
Controller InterfaceDevice (CID)
Netw ork
RealW orldModel
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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
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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.
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Gate Control Logic
1986 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.
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1993
Moved 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
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Dec 1993 Smart Diamond Testing Concept
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1994 Smart Diamond Test Plan
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1994 Smart Diamond Equipment Concept
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Further Developments
TexSIM developed for Smart Diamond Monty willl discuss next
CORSIM extended for hardware in the loop
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Controller Interface Device(CID) ~1997
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1997-Present CID Uses
Testing ACS Lite algorithmsAlgorithm developmentController feature testingLaboratory Based Instruction
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1997 – Present Hardware
TTI PlatformIdaha PlatformUniv. of Minnesota PlatformNaztec/Eagle PlatformPortland PLC PlatformEmergence of a Software Platform (Univ of Arizona, Siemens, Univ of Utah)
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Purdue HITL Laboratory
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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
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Project Selections
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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
2a
V * 1 .47 T Yellow v
p
vV * 1.47
L W Red
wV
.5c - c) * Lanes of (# Clr Ped
vAllo w V * 1 .4 7
(feet)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 3.5
1.5 1.5 1.5 1.52.0 2.02.0 2.0
20 20 20 2050 5040 40
3.0 3.0 3.0 3.02.5 2.52.5 2.5
15 1515 15
7 77 7
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Project: Design ProcessObtain cycles, offsets, and splits from Synchro or Highway Capacity Software
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Project: Real-Time Simulation
Controllers are configured with the calculated timings and coordination timings
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Project: Real-Time Simulation
Simulation model is built using proposed geometries and vehicle volumes and imported into CORSIM
ITRAF CORSIM
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I/O MappingVehicle sensors are mapped to the corresponding phases by the students
DetectorCards
Controller
ControllerMapping
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“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
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Closed Loop Monitoring Screens
PC set up to monitor the system remotely Change
controller parameters
View signal and detector status
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For future HITL Challenges
Commercially 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.