Advanced embedded nonlinear observer design and HIL validation using a Takagi-Sugeno approach with unmeasurable premise variables

European Workshop on Advanced Control and Diagnosis

Olteanu, S.C.^1,2 ; Aitouche, A.^1,3 ; Belkoura, L.^1,2

LAGIS UMR CNRS 8219, France^1

University of Lille 1, France^2

HEI Lille, France^3

关键词: Distributed resources;    Embedded microcontroller;    Embedded platforms;    Hard-ware-in-the-loop;    Nonlinear observer design;    Real-time kernel;    Simulation software;    State observer;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/570/2/022003/pdf
DOI  :  10.1088/1742-6596/570/2/022003

来源: IOP

【 摘 要 】

The article's goals are to illustrate the feasibility of implementing a Takagi Sugeno state observer on an embedded microcontroller based platform and secondly to present a methodology for validating a physical embedded system using a Hardware In The Loop architecture, where a simulation software replaces the process. As an application, a three water tank system was chosen. For the validation part, LMS AMESim software is employed to reproduce the process behaviour. The interface to the embedded platform is assured by Simulink on a Windows operating system, chosen as it is the most commonly used operating system. The lack of real time behaviour of the operating system is compensated by a real time kernel that manages to offer deterministic response times. The Takagi-Sugeno observer in the case of this process has the complex form that considers the premise variables to be unmeasurable. The embedded system consists of two Arduino boards connected in parallel, thus offering distributed resources.