Education & Research With SH2 at Oakland University

Academic Overview of the Collaboration Between Oakland University – Hitachi America

Prof Ka C. Cheok & Dr. G. E. Smid Department of Electrical & Systems Engineering

Detroit – USA

April 20, 2001 Hitachi-America Sales, Marketing and Technical Center Oakland University Dept. of Electrical & Systems Engineering Oakland University - Hitachi America 2

Oakland University

• • • • • •

16000 students 1600 Engineering 800 M.Sc.

60 Ph.D. students Locations 30 mins to Big Three car companies and various automotive suppliers Majority of OU graduates works in auto industry

April 20, 2001 Oakland University - Hitachi America 3

Electrical & Systems Engineering Department

• Dynamic & Control • Industrial & Mobile Robots • Computer-based Systems Control • Computer Simulations • Mechatronics • Communication Electronics • VLSI • Manufacturng Systems April 20, 2001 Oakland University - Hitachi America 4

SH2 in Education

Mechatronics & Computer Control Systems Courses • Systems Behavior/Control Principles • Microcomputers/Microcontrollers • Computer Interface • Signal Conditioning Electronics • Sensors & Actuators • Mechanical Mechanism April 20, 2001 Oakland University - Hitachi America 5

April 20, 2001

Mechatronics Lab

CAE Tools • Simulation • Data acquisition • Analysis • Design • Computer methods Projects Oakland University - Hitachi America 6

EE4/572 Microcomputer Control Systems

Hitachi Embedded Microcontroller Lab • • Learning Experience PC-based control uP-based control • • State-of-the-Art Methodology Technology • • • • • Integrated Systems Multidisplinary Resources Team effort Scheduling Project management April 20, 2001 Oakland University - Hitachi America 7

Hitachi Donation & Support

• 11 SH2 7055 EVBs • 15 H-8 EVBs • HEW, HDI • MakeApp • TargetLink (dSpace donation) • Funding April 20, 2001 Oakland University - Hitachi America 8

Computer Control Mechatronics Course Option at Electrical & Systems Engineering Department at Oakland University

EE/SYS4/575 AUTOMOTIVE MECHATRONICS I Aspects of Design, Analysis, Synthesis EE/SYS675 AUTOMOTIVE MECHATRONICS II Aspects of Microcomputer & Microcontrollers SYS431 AUTOMATIC CONTROL SYSTEMS Feedback Design & Analysis SYS433 MODERN CONTROL SYSTEMS Feedback Design & Analysis EE4/572 MICROCOMPUTER-BASED CONTROL SYSTEMS Aspects of computer control EE470 MICROPROCESSOR SYSTEMS Programming & Application Examples EE351 ELECtROMECHANICAL ENERGY CONVERSION SYS325 LUMPED PARAMETER SYSTEMS Representation of Signals & Systems ME221 STATIC & DYNAMICS

Mechanical systems April 20, 2001

EE345 ELECTRIC & MAGNETIC FIELDS EE326 ELECTRONIC CIRCUITS Transistors, FET, amplifiers EE222 ELECTRICAL CIRCUITS

Circuits analysis, op-amp filters

Oakland University - Hitachi America

EE437 COMMUNICATION ELECTRONICS EE378 DESIGN OF DIGITAL SYSTEMS Logic, TTL, CMOS ECE171 PROGRAMMING LANGUAGE C/C++, Matlab/Simulnk

9

Computer Control for Mechatronic Systems Increasing Intelligent Decision

EXECUTIVE

 

Perception

Signal processing Pattern recognition   

Knowledge & Decision

Memory Rules Rules to change itself  

Command

Control principles Prediction

Computer Input Interface



Input Signal Conditioning

Analog electronics  Digital electronics  Signal processing

EXECUTION Sensory Systems

 Transducers

Computer Output Interface

  

Output Signal Conditioning

Power electronics, Driver devices Modulation schemes

Actuators

 motors, engine  gears

Increasing Precision

Mechanical process

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Examples of student projects

            

Unicycle Balancing Control System Self-leveling Stabilized Platform Stewart Platform Motion Base System Vision-based Navigation Mobile Robot Radar-based Object Detection and Collision Avoidance Sonar-based Object Detection and Collision Avoidance Laser-Camera-based Object Detection and Collision Avoidance Virtual Reality Modeling with Vision-based Navigation Virtual Vehicle GPS-based Navigation & Guidance for Mobile Robot Engine Control Simulation & Experiment Vision-based Target Locking Tracking System Cruise Speed Control with Head-up Display (HUD) Speech Recognition

Think Challenge Question Discover Creative Learn Entertain

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Concept Studies

From Concept to Mechatronic Product

Product Testing Product Shipment Product Tooling Product Prototype Concept Prototype

6

University Involvement

12 18

Industry Involvement

24 mos April 20, 2001 Oakland University - Hitachi America 12

• • •

Concept Studies

Review of Methodology & Technology Computer Simulation Demonstrate Proof of Principles

Concept Prototype

• • •

PC-based Implementation Embedded

m

P Implementation Proof of Technologies

April 20, 2001 Oakland University - Hitachi America 13

PC-based Proof of Principles

• Study of Behavioral Performance – transient, frequency, stability, nonlinearity, uncertainty • PC-based Rapid Prototyping of Controller – evaluation of control scheme using high level language enhances successful implementation of sophisticated principles & algorithm – Ease of programming, parameter tuning, graphical visualization, etc.

Real-Time Windows Target PC I/O Interface

Electronics & Mechanical Systems April 20, 2001 Oakland University - Hitachi America 14

Real-Time Windows Target

Matlab/Simulink schematic diagram implements functions Graphical visualization of results Test Equipment

• • •

Real-Time Windows Target PC I/O Interface NI-DAQ MI-50-AT

Focus less on programming/coding Focus more on experiment, calibration & tuning Proof of Concept/Principles April 20, 2001 Oakland University - Hitachi America

Stabilized Platform

15

Embedded

m

P Proof of Technologies

• Demonstration of Technologies – capabilities, speed, cost, size, weight, integration • Rapid Prototyping of Embedded m P Controller – Hardware & software development – Debugging of program, parameter tuning, etc..

– Stand alone system

Embedded

m

P

Electronics & Mechanical Systems April 20, 2001 Oakland University - Hitachi America 16

Embedded SH2 7055 EVB

TargetLink autocodes Application Functions MakeApp autocodes I/O Functions

• • • •

Effort focus on autocoding Scaling factors, saturation, fixed/floating point Fine tuning of parameters Stand alone SH7055 EVB Project

Hitachi Embedded Workshop

Downloadable Code

Hitachi Development Interface

Graphical visualization of results Embedded

m

P Stabilized Platform Matlab/Simulink for Visualization & Tuning

17 April 20, 2001 Oakland University - Hitachi America

SH2 in Class Projects

•Battery monitor/charger Engine Idle Speed Control Engine Throttle Control April 20, 2001 Oakland University - Hitachi America Mobile Robot 19

SH2 in Class Projects

•Battery monitor/charger Engine Idle Speed Control Engine Throttle Control April 20, 2001 Oakland University - Hitachi America Mobile Robot 20

Engine Idle Speed Control

•

Throttle is closed

=>

Engine is Idling

• Calculate desired Idle speed depending upon operating conditions (temperature, load etc) • Regulate the mass air flow (and apply feedback) April 20, 2001 Oakland University - Hitachi America 21

Overview – SimCar

SimCar is a Matlab/Simulink model of a gasoline engine

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Simulation

• Implemented PID idle speed control on SimCar (tuned via Ziegler-Nichols & Classical Control Technique)

Open-Loop Control PID Control

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Experiment

• Implemented PID idle speed control on actual V8 engine at Hitachi-America lab (tuned via Ziegler-Nichols & manually) April 20, 2001 Oakland University - Hitachi America 24

Engine Control at Hitachi-America Lab

… A Rapid-Prototyping Approach

APPLICATION SOFTWARE KERNEL SOFTWARE Ignition Injection Idle Speed

Matlab / Simulink Model

BIOS

MakeApp

Operating System

Osek Configurator Target Link Model

April 20, 2001

Project

Hitachi Embedded Workshop

Downloadable Code

Hitachi Development Interface

Oakland University - Hitachi America

SH7055 EVB

25

Engine Real-Time Control

Hardware Setup at Hitachi America Lab

Downloadable Code

Hitachi Development Interface

SH7055 EVB Interface Board Ford – V8, 4.6lt Engine Rack

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Students Experiences

• Accomplishments – Learn basics of engine control – Learn modeling and simulation of engine control via SimCar – Learn software development & experimental setup for rapid prototyping of real-time engine using SH2 micro (hardware in the loop) • Problems Encountered – Steep learning curve (especially in the beginning)!

– SimCar doesn’t represent precisely true behavior of the engine under investigation • Credits – Industry experience at Hitachi America Lab – Thanks to Dr. T. Oho, Dr. G. Sarkalis, Stephen and colleagues.

April 20, 2001 Oakland University - Hitachi America 27

SH2 in Research

• HMMWV Collision Warning • Ground Robotics • Automatic Lawn Mower & Stabilized platform • Vehicle Dynamics Simulation April 20, 2001 Oakland University - Hitachi America 28

Research HMMWV Collision Warning

• Objective – Design and Evaluate a Collision Warning and Avoidance System with multiple sensors • Approach – Develop Sensor Fusion and Kalman Filter Algorithms in Simulink with Threat Assessment • Implementation – Laser radar, Millimeter-wave radar, Sonar, Vision – Implement Controller in SH-7055 with Simulink – Brake actuator and Throttle relaxer April 20, 2001 Oakland University - Hitachi America 29

Research HMMWV Collision Warning

April 20, 2001 Oakland University - Hitachi America 30

Research HMMWV Collision Warning

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Research HMMWV Collision Warning

Come from kalman filter

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CWI

Human reaciton time

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Time

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bmin Computed remaining time to brake

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c Time to collision Oakland University - Hitachi America 32

Research HMMWV Collision Warning

April 20, 2001 Oakland University - Hitachi America 33

Research Ground Robotics

• Objective – Student teams build an autonomous robotic vehicle that can negotiate an obstacle course • Approach – Develop a mobile robot, equipped with vision and sonar in a real-time control environment • Implementation – Sonar, Vision – Implement Controller in SH8 through Simulink – DC Motors, typically skid-steer April 20, 2001 Oakland University - Hitachi America 34

Research Ground Robotics

April 20, 2001

Intelligent Ground Vehicle Competition

Winners include Hosei University, Japan Oakland University - Hitachi America 35

Research Stabilizing Platform

• Objective – Automatically Level a platform on a floating base • Approach – Design a Closed-Loop Controller with Kalman Filter independent for X and Y • Implementation – Accelerometer and Rate Gyro Sensors – Implement Controller in SH-7055 1ms cycle April 20, 2001 Oakland University - Hitachi America 36

Research Stabilizing Platform

April 20, 2001 Oakland University - Hitachi America 37

Research Stabilizing Platform

April 20, 2001 Oakland University - Hitachi America 38

Research Stabilizing Platform

April 20, 2001 Oakland University - Hitachi America 39

Research Automatic Lawn Mower

April 20, 2001 Oakland University - Hitachi America 40

Research Automatic Lawn Mower

April 20, 2001 Oakland University - Hitachi America 41

Research Vehicle Dynamics Simulation

• Objective: – Develop Full Vehicle State Observer • Approach: – Embed Full Vehicle Dynamics Model in Real-Time Micro-Processor Environment • Implementation: – Driver Inputs and IO through CAN – Hitachi SH-7055 April 20, 2001 Oakland University - Hitachi America 42

Research Vehicle Dynamics Simulation

April 20, 2001 Oakland University - Hitachi America 43

Research Vehicle Dynamics Simulation

April 20, 2001 Oakland University - Hitachi America 44

Other Research Collaborations

• Ford Motor Company – Pre-Crash Sensing • DaimlerChrysler – Hybrid-Electric Vehicle • US Army TACOM – Collision Warning • ITT Automotive – Anti-Lock Brake System • Saturn Electronics – Traction Control • Chrysler – Virtual Prototyping • Ford Motor Company – Data Validation • Dana Corporation – Virtual Test Rig April 20, 2001 Oakland University - Hitachi America 45

Closing

• Hitachi SH-2 provides excellent solution for rapid prototyping of controllers for mechatronics systems • Software development tools are easy to use (Matlab/Simulink/TargetLink/MakeApp Code-Generation) • Latest Technologies & Methodologies employed in Education and Research • Conducive environment for academic-industry project collaboration April 20, 2001 Oakland University - Hitachi America 46

Oakland University appeciates Hitachi America support and intends to continue the fruitful collaboration

April 20, 2001 Oakland University - Hitachi America 47