q2 1 real_time
TRANSCRIPT
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+kx=pdt
dx+b
dt
xdm 2
2
x distance of mass m from equilibrium
position
Spring mass system
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On Board Computer Sensors
Actuators
Autonomous MAV in real flight withsensors and Onboard Computer
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Realtime and Hardware-In-Loop Simulation
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Realtime Systems & Simulation
What is realtime system?
A system which takes action as and when required. Actionscould be acquiring data, sending data, commands to externalworld etc. It is different from multiuser and multitaskingcomputers.
Examples : Telephone exchange, Emergency systems etc.
Realtime Simulation
Simulation environment in which the input and outputcan happen with wall clock time or precise time.
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Realtime systems can be used for: Control : Reading input and output for control action.
Product development : Simulated environment inwhich suitable states can be used in the product
development.
Training : Realistic environment, so the trainee cannotfind difference between the real system and simulatedsystem. Pilot training, motion, visual and aural effects
play vital role.
Entertainment : Theme parks
Depending on the requirement realism will be simulated
Realtime Systems & Simulation
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Hard realtimeUtility of the action is zero if deadline passes. Absolutedeterministic response to an event. Ignition in theautomobile engine, its utility is zero if missed. All the
necessary resources will be allocated for this event.Soft realtime
Some utility of the action if deadline passes. Averageresponse is defined. Real time video transmission, if one
or two frame misses not much is lost.
Realtime Systems & Simulation
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Typical Realtime System
Computer takes input from the sensors in real time andcommands actuators based on the algorithm. Data can berecorded, displayed. User interface can be created formodifications etc.
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Real system can have
different sensors andinterface will depend on thetype of sensor. In real timesimulation these will be
simulated.
Typical Realtime System
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Realtime Systems & Simulationissues
Realtime operating system : Operating system which can
allocate resources as and when required. Scheduler is availablewhich schedule the events within the OS latency.
Synchronisation of events : With other peripheral systems. Mayneed interrupt based services to synchronise or meet the
demands of external systems.
Resource protection : No conflicting requirements for resources.Data is not corrupted when shared between two segments ofcode. Memory is protected i.e. it can be read or written by onlyone process at a time.
Distributed computing : For large computations, Display andscenery can be on some other computer. It is mutiprocessing,data transfer between two processors is critical.
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Sensor simulation : Numbers from simulation are mapped tosensor characteristics. Analog sensors: Output from sensors isanalog, simulation result is digital. Digital to Analog Converterhelps in achieving this. Conversion accuracy is importantparameter. Digital sensors output will be some Digital protocol.In simulation this will be generated. This can be done by hostcomputer or some hardware device. Transmission delay isimportant parameter.
Realistic environment : For training it is important. Visual andaural cues to be matched with the motion. In aircraft simulationfor example when throttle is demanded the engine soundshould change.
Realtime Systems & Simulationissues
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Analog inputs : representing control lever positions.
Discrete outputs: Digital logic data into voltages to drives relays,lighting indicating lamps etc.
Discrete inputs: Digital voltages into logic. Circuit breaker etc.Synchronous output: to drive the instruments having syncrotorque receivers or control transformers.
Realtime Systems & Simulationissues
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Realistic environment : For training it is important. Visual andaural cues to be matched with the motion. Human visualsensors have lasting effects.
Realtime Systems & Simulation
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Airspeed indicator simulation:Pressure capsule is replacewith DC servo motor
Magnetic compass simulation:
Compass dial movescorresponding to synchroposition. Synchro is driven bysimulation
Realtime Systems & Simulation
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Hardware In Loop Simulation- HILS
A Hardware-in-the-Loop-Simulation (HILS) refers to a
system in which parts of a pure simulation have beenreplaced with actual physical components.
Used for entertainment, training, system testing, componenttesting etc.
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Simulation Examples : CricketBowling
Human bowler is replacedwith a simulator.
Spin balls, fast balls, fulllength, short balls. Balls can
be delivered at intervals of2.5, 5,7.5 or 15 seconds. Ballvelocity variable from 10km/h(6 mp/h) to 120km/h (74,5
mph). Random or pre-selected spot
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Simulation Examples : AdvancedDriving simulator
x- y motion with 6-DOFplatform
x y (disp) : 32 ft
x y (vel) : 32 ft/sec
x - y (acce) : 20 ft/sec2
Pitch - 25 deg
Pitch - 25 deg/sec
Motion platform Inside of the motion platform
For evaluating driver behavior under complex situation andmay be dangerous under actual conditions.
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Sports and Entertainment
Skiing trainer : Possible tohave fun without snow
Popularly used in action
movies, car chase etc.
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In-Flight Simulator
In-flight simulation technique allows to fly a 'virtual aircraft'
in the real world. This unique feature, i.e., configuring thedynamic characteristics by an on-board programmed modelaircraft which can be evaluated by the pilot under real flightconditions:
flying qualities
flight control law
handling qualities
This simulator provides high quality flight data for theexperimental aircraft. Most desired in terms of fidelity andpsychological effects on pilot in terms of real environment.
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Inflight simulator Advanced Technologies Testing Aircraft
System (ATTAS), DLR, Germany based on civil transportaircraft. Pilot commands are taken by the experimentalmodel. Controller following the model shapes the commandsin such a way that the aircraft behaves as the experimentalaircraft. It is 5 DOF platform
In-Flight Simulator
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In addition to normal control surfaces it has additional six direct
lift control flaps, landing flaps, and stabilizer. In case ofemergency switches to normal flight controller.
In-Flight Simulator
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In-Flight Simulator VISTA
Variable-stability Inflight Simulator Test Aircraft, basedon F-16 aircraft. 6-DOF platform, can fly upto 0.9 Mach.
Time history for a modelaircraft and VISTA forpitch axis
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In-Flight Simulator Limitations
In-flight simulator cannot simulate all phases of flight of asuperior aircraft. The performance of the in-flight simulatorcannot match the performance of model aircraft.
Cost of setting up and operation is very high.
In-flight simulations are confined to crucial stages of flight likelanding, takeoff, in-flight refuelling, assessment of controllaws of a fly by wire aircraft etc.
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Complexity
Theory
Wind Tunnel
Off-line
Simulation
Real TimeSimulation
In-flight
Simulation
Flight Testing
Role of flight simulation in AircraftDesign
Re
alism
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6 DOF motion platform
Ground based aircraftsimulators for flight training.The motion of the platform isnot true to aircraft dynamics.
Visual, motion cues are suchthat human body senses it asa real flight. Washout filtersare used to reduce largemotions.
A l Si l 2 DOF
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An example - Simple 2 DOFmotion platform
2 DOF Pitching and rolling motion. This was used to
demonstrate the realtime system having actuators andsensor in loop.
To simulate and demonstrate wing rock motion
Main components :
Realtime clock (8254), handles to use the clock, actuatorcontroller hardware (DAC), sensor feed back (ADC)
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inertiageometryfcc
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Wing Rock Simulator
FM
FC
PC
A/D-D/A
386 PC Dynalog PCL-208 2 nos RC Servos
2 nos Pots Plastic a/c model 2-axis rig
Flight mechanics and flight controller on PC. ADC formotion controller and DAC for rate feed back
Start
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Initial
Conditions
Interpolation Routine
Start Timer
RK 4th Order
Integration Routine
T=n
t?
Send position to
Servo
Check for FCS
On/Off
Y
N
Timer
expire
d ?
Stop
Y
N
Software flow diagram
Integration time is 20 msec.
Computation time is 8 msec
Wait for 12 msec. Commandto actuators at the end of 20
msec. Sensor input at thestart of cycle for feed back.Realtime clock at 1 MHz.Polling method is used fortimer. Two timers are used incascade mode, helped inidentifying the end of timestep.
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Hardware In Loop Simulator forMAV at CASDE
For testing the Onboard computer and actuators forautonomous mission based on waypoint navigation
Strategy used to reduce cost and efforts
Off the shelf hardware components
Efforts on integration of the system
Selection of components
Input output compatibilityActuators RC servos
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On Board Computer Sensors
Actuators
Simulation
Actual Hardware
MAV in simulated flight withOnboard Computer
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SynchronousSimulation computer & OBC signals eachother at regular interval for communicationto confirm data ready. OBC software willrequire modification before flight
Interaction between simulation computerand the Hardware In Loop
Simulation
Computer
Interface
0 1 2 3 4 5OBC
t time step for simulation and controller
t1 Simulation computation time
t2 Controller computation time
t
Simulation computer and OBC input-outputrelationship
States from simulation are for the end oftime step t based on the actuator positionat the start of t. OBC requires states at thestart of t and computes new actuatorposition for end of time step t.
Finite time required for actuator positionacquisition and sensor value acquisition
No states output till sensor valueacquisition by OBC is over.
No actuator output till actuator positionacquisition over by simulation
Synchronising signals are required forcorrect matching of input and output. Onlyone real time clock is required.
t1
t2
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0
1
2
3
0
1
2
3
4
5
6
7
0 volts
5 volts
On Board ComputerSimulation Computer
2 bitDAC
3 bitADC
Analog sensor simulation
Interface
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0
1
2
3
0
1
2
3
4
5
6
7
0 volts
5 volts
On Board ComputerSimulation Computer
3 bitDAC
2 bitADC
Analog sensor simulation
Interface
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GPS Data Simulation
GPS essential for way point based autonomous navigation.
Simulation gives x, y, ground speed, attitude of aircraft. GPSoutput is in NMEA format and longitude, latitude, heading wrtnorth, ground speed etc.
GPS communicates at 9600 bps, asynchronous mode, this is
also part of simulation. GPS information is ~ 100 bytes (100msec), separate computer is required to handle this job.
AircraftStates
NMEA
sentenceGPS
Module
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Aircraft
States
NMEA
sentence
GPS
Module
$GPRMC,064947.890,A,1907.9045,N,07255.1121,E,0.07,232.41,031103,,*0A
Time in UTC hhmmss.sss,status, ddmm.mm,N,ddmm.mm,E,Ground speed inknots, Track angle d.d,date month year,magnetic variation,checksum
From simulation, position (latitude, longitude), track angle (wrt north) etc areavailable at every simulation cycle (~10 msec). Transmitted over Ethernet using
UDP. Additional data is added and sent to serial port at every second.
GPS Data Simulation
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System level testing -Hardware In Loop Simulator
Using HILS
Micro-controllers can be proved.
Mathematical models can be validated.
Sensors can be identified. Navigation/Guidance laws can be evolved.
Flight control studies can be carried out.
Realistic missions can be flown.
Mission can be verified
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Solution methods for ODEs- Analog Simulation
In analog simulation, operational amplifiers are used.Summation, subtraction, multiplication, division, integration etc
is possible. Simulation is real time. May require time scaling
for changing the pace of the simulation. Voltages are system
states. Saturation is major disadvantage. Continuous solution ispossible. Higher frequency operation is limited by hardware
involved. Precision hardware is required to minimise the errors
due to environment e.g. temperature, humidity etc.
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Solution methods for ODEs - Analog Simulation
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Solution methods for ODEs - Analog Simulation
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Solution methods for ODEs
Cedt
deBtF
dt
edA = sin2
2
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4322 2211 =++ xxxx txxxx 22 2211 =++
Solution methods for ODEs - Analog Simulation