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.
Kinematics-based force/position control of a hexapod in a HiL axle test rig
2017-01-01
14 pages
Article/Chapter (Book)
Electronic Resource
English
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