Abstract This contribution presents the control strategy currently used to operate a hexapod as part of a Hardware-in-the-Loop (HiL) simulation environment for mechatronic vehicle axles. Using this control scheme on the test rig achieves high closed-loop position control bandwidth while keeping unwanted interaction forces and torques considerably low. Since the control algorithm includes a feed forward of the mounted axle’s kinematics, the contribution also briefly discusses the implemented model of the axle kinematics and the chosen identification approach. Furthermore, a description of the test rig as well as an impression of the achieved control performance is given by test rig measurements of a rough-road maneuver.


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    Titel :

    Kinematics-based force/position control of a hexapod in a HiL axle test rig


    Beteiligte:
    Kohlstedt, Andreas (Autor:in) / Olma, S. (Autor:in) / Traphöner, P. (Autor:in) / Jäker, K.-P. (Autor:in) / Trächtler, A. (Autor:in)


    Erscheinungsdatum :

    01.01.2017


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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