This paper presents a X-in-the-loop (where X: Model, Software, Hardware, Driver/Human, etc.) driv... more This paper presents a X-in-the-loop (where X: Model, Software, Hardware, Driver/Human, etc.) driving simulation platform, developed at Siemens PLM Software, that facilitates the design, development, testing and validation of Advanced Driver Assistance System (ADAS). The paper outlines the essential components of the simulator and demonstrates the usefulness by two autonomous driving functionalities i.e. adaptive cruise control and autonomous intersection crossing. In addition, the paper highlights the key features of the platform.
2017 IEEE/ACM 21st International Symposium on Distributed Simulation and Real Time Applications (DS-RT)
The paper presents recent technological advancements that have been made by Siemens PLM in its si... more The paper presents recent technological advancements that have been made by Siemens PLM in its simulation tools for multi-body analyses and multi-physics simulation in order to run physics-based high fidelity models in real-time. The motivation is enable reuse of simulation models developed during the engineering phase during the validation phase with hardware or humans in the loop. To demonstrate these capabilities, two simulator have been developed. A short overview of these simulators is presented.
Nowadays, virtual prototyping is often incorporated in the design process to accelerate the devel... more Nowadays, virtual prototyping is often incorporated in the design process to accelerate the development process of complex mechatronic systems. This involves the development and evaluation of flexible multi-body models, onedimension lumped parameter models and control system designs. Hence, simulation tools are required to assist the dynamic modelling of the system, model-based controller design [1], and evaluation of performance and robustness of the closed loop system, which rely on the dynamic characteristics of a mechatronic system [2]. This presentation gives an overview of the model-based design and analysis process, and illustrates it by an industrial case study. 2 Case study The industrial case study is a gantry machine, shown in Figure 1. The gantry moves in the x-direction, whereas the head is capable of moving along the y-direction and z-direction. For the current study, it is assumed that the head motion is restricted to y-direction only. The total mass of the gantry is ...
Service load simulation is a crucial step in the design and development cycle of automotive vehic... more Service load simulation is a crucial step in the design and development cycle of automotive vehicles. The objective of these tests is to reproduce acquired road load data in lab environment typically on a vibration test rig. This research proposes an algorithm for load data replication that makes use of adaptive inverse plant modeling (AIPM) and iterative learning control (ILC) techniques. The validation of the proposed approach is done through simulation using the single-input single-output (SISO) linear and non-linear test rig models. It is shown that both the tracking accuracy and convergence behavior are improved compared to an existing state of the art time waveform replication (TWR) method. Moreover, the LDR approach utilizes a time domain iterative control law and requires minimal processing time in between trials to update the drive signals for reproducing the load data in contrast to existing approach.
Generally, a controlled system is obtained by designing the structure and the controller independ... more Generally, a controlled system is obtained by designing the structure and the controller independently. This sequential design approach usually yields suboptimal system performance since the structure and the controller might struggle with each other to achieve the required closed-loop behavior. This contribution proposes an algorithm for integrated structure and control design problem to achieve the overall system performance in an optimal sense for instance quantified in terms of H ∞ norm.
This paper presents a novel gradient based iterative approach to concurrently optimize plant and ... more This paper presents a novel gradient based iterative approach to concurrently optimize plant and controller parameters. The co-design approach is linear matrix inequality (LMI) based and relies on estimates of the differential properties of the objective function with respect to the design variables which are obtained by using the dual solution to the control design problem. Contrary to most existing techniques which assume an affine dependency of the objective function on the optimization problem, the presented approach allows for nonlinear dependency, and hence can handle a broader class of co-design problems. Moreover, unlike other gradient based techniques, the method doesn't need to compute controller parameters at each iteration. The developed method is validated using numerical examples of a gantry machine and an electric motor.
This paper presents a novel gradient based iterative approach to concurrently optimize plant and ... more This paper presents a novel gradient based iterative approach to concurrently optimize plant and controller parameters. The co-design approach is linear matrix inequality (LMI) based and relies on estimates of the differential properties of the objective function with respect to the design variables which are obtained by using the dual solution to the control design problem. Contrary to most existing techniques which assume an affine dependency of the objective function on the optimization problem, the presented approach allows for nonlinear dependency, and hence can handle a broader class of co-design problems. Moreover, unlike other gradient based techniques, the method doesn't need to compute controller parameters at each iteration. The developed method is validated using numerical examples of a gantry machine and an electric motor.
ABSTRACT Nowadays, virtual prototyping is often incorporated in the design process to accelerate ... more ABSTRACT Nowadays, virtual prototyping is often incorporated in the design process to accelerate the development process of complex mechatronic systems. This implies that the use of experimental campaigns has to be reduced and the manufacturer has to rely more on simulation tools. In this paper, the on-going activities on the simulation and validation of combined 1D and 3D models, for the design and analysis of complex mechatronic system, have been presented. This includes the development of a flexible multi-body model, a lumped parameter driveline model and a control system. In order to exhibit the potential of the virtual design and analysis process for modern mechatronic systems, an industrial machine tool is used as a case study. For predicting the dynamic behavior of the machine, forecasting the influence of specific design changes, and assessing the impact of different control architectures with full confidence, the model needs to be validated. To this end, the simulation results of the virtual model is compared with the results obtained on the physical prototype.
This paper presents a X-in-the-loop (where X: Model, Software, Hardware, Driver/Human, etc.) driv... more This paper presents a X-in-the-loop (where X: Model, Software, Hardware, Driver/Human, etc.) driving simulation platform, developed at Siemens PLM Software, that facilitates the design, development, testing and validation of Advanced Driver Assistance System (ADAS). The paper outlines the essential components of the simulator and demonstrates the usefulness by two autonomous driving functionalities i.e. adaptive cruise control and autonomous intersection crossing. In addition, the paper highlights the key features of the platform.
2017 IEEE/ACM 21st International Symposium on Distributed Simulation and Real Time Applications (DS-RT)
The paper presents recent technological advancements that have been made by Siemens PLM in its si... more The paper presents recent technological advancements that have been made by Siemens PLM in its simulation tools for multi-body analyses and multi-physics simulation in order to run physics-based high fidelity models in real-time. The motivation is enable reuse of simulation models developed during the engineering phase during the validation phase with hardware or humans in the loop. To demonstrate these capabilities, two simulator have been developed. A short overview of these simulators is presented.
Nowadays, virtual prototyping is often incorporated in the design process to accelerate the devel... more Nowadays, virtual prototyping is often incorporated in the design process to accelerate the development process of complex mechatronic systems. This involves the development and evaluation of flexible multi-body models, onedimension lumped parameter models and control system designs. Hence, simulation tools are required to assist the dynamic modelling of the system, model-based controller design [1], and evaluation of performance and robustness of the closed loop system, which rely on the dynamic characteristics of a mechatronic system [2]. This presentation gives an overview of the model-based design and analysis process, and illustrates it by an industrial case study. 2 Case study The industrial case study is a gantry machine, shown in Figure 1. The gantry moves in the x-direction, whereas the head is capable of moving along the y-direction and z-direction. For the current study, it is assumed that the head motion is restricted to y-direction only. The total mass of the gantry is ...
Service load simulation is a crucial step in the design and development cycle of automotive vehic... more Service load simulation is a crucial step in the design and development cycle of automotive vehicles. The objective of these tests is to reproduce acquired road load data in lab environment typically on a vibration test rig. This research proposes an algorithm for load data replication that makes use of adaptive inverse plant modeling (AIPM) and iterative learning control (ILC) techniques. The validation of the proposed approach is done through simulation using the single-input single-output (SISO) linear and non-linear test rig models. It is shown that both the tracking accuracy and convergence behavior are improved compared to an existing state of the art time waveform replication (TWR) method. Moreover, the LDR approach utilizes a time domain iterative control law and requires minimal processing time in between trials to update the drive signals for reproducing the load data in contrast to existing approach.
Generally, a controlled system is obtained by designing the structure and the controller independ... more Generally, a controlled system is obtained by designing the structure and the controller independently. This sequential design approach usually yields suboptimal system performance since the structure and the controller might struggle with each other to achieve the required closed-loop behavior. This contribution proposes an algorithm for integrated structure and control design problem to achieve the overall system performance in an optimal sense for instance quantified in terms of H ∞ norm.
This paper presents a novel gradient based iterative approach to concurrently optimize plant and ... more This paper presents a novel gradient based iterative approach to concurrently optimize plant and controller parameters. The co-design approach is linear matrix inequality (LMI) based and relies on estimates of the differential properties of the objective function with respect to the design variables which are obtained by using the dual solution to the control design problem. Contrary to most existing techniques which assume an affine dependency of the objective function on the optimization problem, the presented approach allows for nonlinear dependency, and hence can handle a broader class of co-design problems. Moreover, unlike other gradient based techniques, the method doesn't need to compute controller parameters at each iteration. The developed method is validated using numerical examples of a gantry machine and an electric motor.
This paper presents a novel gradient based iterative approach to concurrently optimize plant and ... more This paper presents a novel gradient based iterative approach to concurrently optimize plant and controller parameters. The co-design approach is linear matrix inequality (LMI) based and relies on estimates of the differential properties of the objective function with respect to the design variables which are obtained by using the dual solution to the control design problem. Contrary to most existing techniques which assume an affine dependency of the objective function on the optimization problem, the presented approach allows for nonlinear dependency, and hence can handle a broader class of co-design problems. Moreover, unlike other gradient based techniques, the method doesn't need to compute controller parameters at each iteration. The developed method is validated using numerical examples of a gantry machine and an electric motor.
ABSTRACT Nowadays, virtual prototyping is often incorporated in the design process to accelerate ... more ABSTRACT Nowadays, virtual prototyping is often incorporated in the design process to accelerate the development process of complex mechatronic systems. This implies that the use of experimental campaigns has to be reduced and the manufacturer has to rely more on simulation tools. In this paper, the on-going activities on the simulation and validation of combined 1D and 3D models, for the design and analysis of complex mechatronic system, have been presented. This includes the development of a flexible multi-body model, a lumped parameter driveline model and a control system. In order to exhibit the potential of the virtual design and analysis process for modern mechatronic systems, an industrial machine tool is used as a case study. For predicting the dynamic behavior of the machine, forecasting the influence of specific design changes, and assessing the impact of different control architectures with full confidence, the model needs to be validated. To this end, the simulation results of the virtual model is compared with the results obtained on the physical prototype.
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Papers by Sikandar Moten