TY - GEN
T1 - Investigation of hardware-in-the-loop walking/running test with spring mass system
AU - Yang, Zhanye
AU - Iravani, Pejman
AU - Plummer, Andrew
AU - Pan, Min
PY - 2017
Y1 - 2017
N2 - Hardware-in-the-Loop (HIL) testing has been used successfully for a number of years on a wide range of applications. Any delay in actuation systems will increase the system energy if it is not properly compensated for due to the negative damping effect. A HIL walking/running testing system has advantages for testing lower-limb prosthetics over traditional human-based testing, i.e. safer, more objective. However, the stiff ground contact discontinuity is hard to compensate. This paper investigates the effect of introducing nonlinearity and discontinuity into a HIL system by comparing three types of Spring Mass System. Also, a requirement on the HIL testing actuation system is concluded that the actuation system delay frequency should be 20 times greater than the system natural frequency in order to keep the system simulation stable.
AB - Hardware-in-the-Loop (HIL) testing has been used successfully for a number of years on a wide range of applications. Any delay in actuation systems will increase the system energy if it is not properly compensated for due to the negative damping effect. A HIL walking/running testing system has advantages for testing lower-limb prosthetics over traditional human-based testing, i.e. safer, more objective. However, the stiff ground contact discontinuity is hard to compensate. This paper investigates the effect of introducing nonlinearity and discontinuity into a HIL system by comparing three types of Spring Mass System. Also, a requirement on the HIL testing actuation system is concluded that the actuation system delay frequency should be 20 times greater than the system natural frequency in order to keep the system simulation stable.
KW - Delay compensation
KW - Hardware-in-the-Loop
KW - Prosthetic test
UR - http://www.scopus.com/inward/record.url?scp=85026778895&partnerID=8YFLogxK
UR - http://dx.doi.org/10.1007/978-3-319-64107-2_11
U2 - 10.1007/978-3-319-64107-2_11
DO - 10.1007/978-3-319-64107-2_11
M3 - Chapter in a published conference proceeding
AN - SCOPUS:85026778895
SN - 9783319641065
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 126
EP - 133
BT - Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings
PB - Springer Verlag
T2 - 18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017
Y2 - 19 July 2017 through 21 July 2017
ER -