Compensator design for model-in-the-loop testing

Jiayang Hu, Andrew R. Plummer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Model-in-the-Loop (MiL) testing is a method in which the test object is split into a physical part and a simulated part, and these are connected with interfaces to form a combined physical-numerical system. The challenge of generating a MiL test is that, firstly, because of the limited dynamic response of the actuators, the test results may be inaccurate, and secondly, because of the high frequency noise introduced by the sensors to the closed-loop system, it may be difficult to design a compensator for the actuator response, while stabilizing the closed-loop system at the same time. In this paper, a MiL system is designed using a small hydraulic robot arm. The problems with the MiL test without any compensator is shown with experimental results. The effectiveness of a 1st order phase lead compensator and an inverse model compensator are validated in the experiment. For systems which can be approximated by linear timeinvariant models, it is proposed that compensator design is a linear optimization problem balancing emulation error with noise amplification. Thus, a new method of designing the compensator for MiL testing based on H-∞ optimization is presented.

Original languageEnglish
Title of host publication2016 UKACC International Conference on Control, UKACC Control 2016
PublisherIEEE
ISBN (Electronic)9781467398916
DOIs
Publication statusPublished - 10 Nov 2016
Event11th UKACC United Kingdom Automatic Control Council International Conference on Control, UKACC Control 2016 - Belfast, UK United Kingdom
Duration: 31 Aug 20162 Sep 2016

Publication series

Name2016 UKACC International Conference on Control, UKACC Control 2016

Conference

Conference11th UKACC United Kingdom Automatic Control Council International Conference on Control, UKACC Control 2016
CountryUK United Kingdom
CityBelfast
Period31/08/162/09/16

Keywords

  • Electrohydraulic Motion Control
  • H Optimization
  • Hardware-in-the-Loop Testing
  • Hybrid Testing
  • Model-in-the-Loop Testing
  • Substructuring

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering
  • Energy Engineering and Power Technology

Cite this

Hu, J., & Plummer, A. R. (2016). Compensator design for model-in-the-loop testing. In 2016 UKACC International Conference on Control, UKACC Control 2016 [7737633] (2016 UKACC International Conference on Control, UKACC Control 2016). IEEE. https://doi.org/10.1109/CONTROL.2016.7737633

Compensator design for model-in-the-loop testing. / Hu, Jiayang; Plummer, Andrew R.

2016 UKACC International Conference on Control, UKACC Control 2016. IEEE, 2016. 7737633 (2016 UKACC International Conference on Control, UKACC Control 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hu, J & Plummer, AR 2016, Compensator design for model-in-the-loop testing. in 2016 UKACC International Conference on Control, UKACC Control 2016., 7737633, 2016 UKACC International Conference on Control, UKACC Control 2016, IEEE, 11th UKACC United Kingdom Automatic Control Council International Conference on Control, UKACC Control 2016, Belfast, UK United Kingdom, 31/08/16. https://doi.org/10.1109/CONTROL.2016.7737633
Hu J, Plummer AR. Compensator design for model-in-the-loop testing. In 2016 UKACC International Conference on Control, UKACC Control 2016. IEEE. 2016. 7737633. (2016 UKACC International Conference on Control, UKACC Control 2016). https://doi.org/10.1109/CONTROL.2016.7737633
Hu, Jiayang ; Plummer, Andrew R. / Compensator design for model-in-the-loop testing. 2016 UKACC International Conference on Control, UKACC Control 2016. IEEE, 2016. (2016 UKACC International Conference on Control, UKACC Control 2016).
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