Page 56 - Mechatronics with Experiments

JWST499-Cetinkunt
JWST499-c01
42 MECHATRONICS Printer: Yet to Come October 9, 2014 7:39 254mm×178mm
PC

USB/CAN
ECM

Machine sub-system hardware Dynamometer
Engine Transmission

HIL simulator

Machine model:
dynamic, real-time
Stick
Bucket cylinder
cylinder
Stick Boom
Swing Motor
Upper
Bucket housing
Boom
cylinders
Under-carriage
tracks (x2) with
hydrostatic drives

FIGURE 1.32: Hardware-in-the-loop (HIL) simulation and testing using ECM and some of the
actual hardware in a powertrain control application and some of the hardware simulated in
real-time: engine and transmission physically exist, the lower powertrain and load conditions
are simulated via the dynomameter based on the real-time dynamic model.

unit (ECU), engine, transmission, dynamometer), and some of the components are present
in software form running in real-time and its results are reflected on the control system by
a generic simulator (i.e., a dynamometer which represents the load on the powertrain based
on the machine dynamics and operating conditions, (Figure 1.32). Early versions of HIL
simulations were used to test only the static input output behavior of the ECM running the
intended real-time control code, where I/O behavior is tested with a static I/O simulator.
Modern HIL simulation and testing are performed for dynamic testing, as well as static
testing, where the I/O to ECM is driven by dynamic and detailed models of the actual
machine.