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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


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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.


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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.


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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.


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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.


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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


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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.
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/Nadsmb.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/Nadscab[1].mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/Nadscab[1].mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/Nadsmb.mpeg

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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.
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeg

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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
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeg

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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
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeg

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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.
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeg

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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
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeg

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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)

),,(

),(&21

21

fc

inertiageometryfcc

ccc

L

L

=

=

=
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeg

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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
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/town.mpeghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/wrock2.mpghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/wrock2.mpg

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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
http://e/users/arya/mod&sim/cep_modsim-2005/realtime/hils_casde.mpghttp://e/users/arya/mod&sim/cep_modsim-2005/realtime/hils_casde.mpg

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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

Cedt

deBtF

dt

edA = sin2

2

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4322 2211 =++ xxxx txxxx 22 2211 =++


Documents

Q2 1 Real_time