Robust Control Techniques Enabling Duty Cycle Experiments Utilizing a 6- DOF Crewstation Motion Base, a Full Scale Combat Hybrid Electric Power System, and Long Distance Internet Communications

摘要

The RemoteLink effort supports the U.S. Army's objective for developing and fielding next generation hybrid-electric combat vehicles. It is a distributed soldier-in-the-loop and hardware-in-the-loop environment with a 6- DOF motion base for operator realism, a full-scale combat hybrid electric power system, and an operational context provided by OneSAF. The driver/gunner crewstations rest on one of two 6-DOF motion bases at the U.S. Army TARDEC Simulation Laboratory (TSL). The hybrid power system is located 2,450 miles away at the TARDEC Power and Energy System Integration Laboratory (P&E SIL). The primary technical challenge in the RemoteLink is to operate both laboratories together in real time, coupled over the Internet, to generate a realistic power system duty cycle. A topology has been chosen such that the laboratories have real hardware interacting with simulated components at both locations to guarantee local closed loop stability. This layout is robust to Internet communication failures and ensures the long distance network delay does not enter the local feedback loops. The TSL states and P&E SIL states will diverge due to (1) significant communications delays and (2) unavoidable differences between the TSL's power system simulation and the P&E SIL's real hardware-in-the-loop power system. Tightly coupled, bi-directional interactions exist among the various distributed simulations and software and hardware-in- the-loop components representing the driver, gunner, vehicle, and power system.