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- Title
Control of a hydraulic hexapod for a Hardware-in-the-Loop axle test rig.
- Authors
Kohlstedt, Andreas; Olma, Simon; Flottmeier, Sarah; Traphöner, Phillip; Jäker, Karl-Peter; Trächtler, Ansgar
- Abstract
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.
- Subjects
KINEMATICS; OBSERVABILITY (Control theory); HARDWARE-in-the-loop simulation; AXLES; ENGINEERING systems -- Computer simulation
- Publication
Automatisierungstechnik, 2016, Vol 64, Issue 5, p365
- ISSN
0178-2312
- Publication type
Article
- DOI
10.1515/auto-2016-0025