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Dynamic Emulation Using a Resistive Control Input

[+] Author Affiliations
Rong Zhang, Andrew G. Alleyne

University of Illinois at Urbana-Champaign, Urbana, IL

Paper No. IMECE2002-39323, pp. 137-147; 11 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


Dynamic load emulation using a resistive control input is a key topic of Hardware-In-The-Loop implementation. Three control configurations are available to design a load emulator. When the bandwidth of the reference system is low enough compared to the bandwidth of the actuator, a one degree-of-freedom (DOF) feedback emulator can be successful. When the reference loop has a very large bandwidth compared to the actuator, the one-DOF feedback design yields poor performance with a possible loss of stability. In this case, if accurate plant model parameters or, alternatively, online adaptation is available, a one-DOF feed forward design can secure stability and improve the performance; otherwise, a two-DOF emulator is the choice to utilize both feedback and feed forward signals and to obtain robust stability and robust performance. To emulate the load dynamics, the usage of a resistance as the control input imposes some fundamental limitations to the closed-loop performance. This paper presents the following: (i) Generalization of load emulation problems and control configurations, (ii) Analysis of performance limitations for resistively controlled systems, and (iii) Design examples including simulation and experimental results.

Copyright © 2002 by ASME



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