Control of a hydraulic hexapod for a Hardware-in-the-Loop axle test rig

被引：3
|
作者：
Kohlstedt, Andreas [1 ]
Olma, Simon [1 ]
Flottmeier, Sarah [1 ]
Traphoener, Phillip [1 ]
Jaeker, Karl-Peter [1 ]
Traechtler, Ansgar [1 ]
机构：
[1] Univ Paderborn, Heinz Nixdorf Inst, Control Engn & Mechatron, Furstenallee 11, D-33102 Paderborn, Germany
来源：
AT-AUTOMATISIERUNGSTECHNIK | 2016年 / 64卷 / 05期
关键词：
Hybrid position/force control; parallel kinematics; state observer; Hardware-in-the-Loop simulation; vehicle axle test rig;
D O I：
10.1515/auto-2016-0025
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The present paper describes the controller design for a hydraulic hexapod which is used as an excitation unit for a Hardware-in-the-Loop axle test rig. This includes a description of the plant model, the subordinate drive controllers, the sliding mode state observer as well as the position control of the free hexapod. Measurements show the high dynamics of the position-controlled hexapod. The concept is extended to a hybrid position/force control to be used during axle test maneuvers. Its functionality is demonstrated by a measurement used for the identification of the axle kinematics.
引用
收藏
页码：365 / 374
页数：10
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