1 Comparison of Feedforward Control Schemes for Real-Time Hybrid Substructuring (RTHS) 13 1.5 Conclusion In this work, we investigate the applicability of three different feedforward control schemes to improve the tracking performance of a Stewart Platform. The Stewart Platform is used for Real-Time Hybrid Substructuring (RTHS) tests and the existing position controller is a P-PI-PI cascaded feedback controller. The methods that we investigated are modelbased dynamic feedforward (MBDC), model-free inversion-based iterative feedforward (MFIIC) and velocity feedforward (VFF). All methods improve the tracking performance of the Stewart Platform. MBDC is a feedforward control scheme that requires significant effort for system identification, but enables the testing of experimental parts that dynamically influence the movement of the actuator. MFIIC learns the dynamic interaction between the actuator and the experimental part. It can be applied to improve tracking performance in RTHS if the RTHS test results are inaccurate but stable. VFF is a very simple, yet powerful approach, as it achieves high accuracy. Its successful application is limited to actuators that are stiff compared to the experimental specimen, because it cannot improve tracking performance if the actuator’s dynamic behavior is influenced by the experimental part. Future work will include investigations of the applicability of feedforward schemes for RTHS tests. References 1. Saouma, V., Sivaselvan, M.: Hybrid Simulation: Theory, Implementation and Applications. Taylor & Francis, London (2008) 2. Olma, S., Kohlstedt, A., Traphöner, P., Jäer, K.-P., Trächtler, A.: Observer-based nonlinear control strategies for Hardware-in-the-Loop simulations of multiaxial suspension test rigs. Mechatronics 50, 212–224 (2018) 3. Fallah, M.P.M., Bhat, R., Xie, W.F.: Optimized control of semiactive suspension systems using H-infinity robust control theory and current signal estimation. IEEE/ASME Trans. Mechatron 17, 767–778 (2012) 4. Herrmann, S.W.: Dynamic testing of total hip and knee replacements under physiological conditions by. Dissertation (2014) 5. Insam, C., Bartl, A., Rixen, D.J.: A step towards testing of foot prosthesis using real-time substructuring (RTS). In: IMAC – Conference & Exposition on Structural Dynamics (2019) 6. Horiuchi, T., Inoue, M., Konno, T., Namita, Y.: Real-time hybrid experimental system with actuator delay com- pensation and its application to a piping system with energy absorber. Earthq. Eng. Struct. Dyn. 28(10), 1121–1141 (1999). https://doi.org/10.1002/(SICI)1096-- 9845(199910)28:10$<$1121::AID-EQE858$>$3.0.CO;2-O 7. Bartl, A., Mayet, J., Rixen, D.J.: An adaptive approach to coupling vibration tests and simulation models with harmonic excitation. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM), pp. 262–267 (2019) 8. Maghareh, A.: Nonlinear robust framework for real-time hybrid simulation of structural systems: design, imple- mentation, and validation. Dissertation, Purdue University (2017) 9. Carrion, J., Spencer, B.F.: Real-time hybrid testing using model-based delay compensation. Smart Struct. Syst. 4 (2006). https://doi.org/10. 12989/sss.2008.4.6.809 10. Föllinger, O.: Regelungstechnik. ISBN:978-3-8007-3231-9. VDE Verlag (2013) 11. Dyke, S.J., Spencer, B.F., Quast, P., Sain, M.K.: Role of control-structure interaction in protective system design. J. Eng. Mech. 121(2), 322–338 (1995). https://doi.org/10.1061/(ASCE)0733-9399(1995)121:2(322) 12. Sygulla, F., Wittmann, R., Seiwald, P., Berninger, T., Hildebrandt, A.-C., Wahrmann, D., Rixen, D.: An EtherCAT- based real-time control system architecture for humanoid robots, pp. 483–490 (2018). https://doi.org/10.1109/COASE.2018.8560532 13. Pellegrini, E., Spirk, S., Pletschen, N., Lohmann, B.: Experimental validation of a new model-based control strategy for a semi-active suspension system. In: 2012 American Control Conference (ACC), pp. 515–520 (2012) 14. Pellegrini, E., Pletschen, N., Spirk, S., Rainer, M., Lohmann, B.: Application of a model-based two-DOF control structure for enhanced force tracking in a semi-active vehicle suspension. In: 2012 IEEE International Conference on Control Applications, pp. 118–123 (2012) 15. Anderson, B.D.O., Moore, J.B.: Optimal Control: Linear Quadratic Methods. Prentice Hall PTR, Englewood Cliffs (1990) 16. Carrion, J., Spencer, B.F.: Model-based strategies for real-time hybrid testing. In: NSEL Report Series (2007) 17. Phillips, B.M., Spencer, B.F.: Model-based multiactuator control for real-time hybrid simulation. J. Eng. Mech. 139(2), 219–228 (2013). https:// doi.org/10.1061/(ASCE)EM.1943-7889.0000493 18. Phillips, B.M., Spencer, B.F.: Model-based feedforward-feedback actuator control for real-time hybrid simulation. J. Struct. Eng. 139(7), 1205–1214 (2013). https://doi.org/10.1061/(ASCE)ST.1943-541X.0000606 19. Fermandois, G.A., Spencer, B.F.: Model-based framework for multi-axial real-time hybrid simulation testing. Earthq. Eng. Eng. Vib. 16(4), 671–691 (2017). https://doi.org/10.1007/s11803-017-0407-8 20. Hochrainer, M.J., Puhwein, A.M.: Investigation of nonlinear dynamic phenomena applying real-time hybrid simulation. In: Kerschen, G. (ed.) Nonlinear Structures and Systems, vol. 1, pp. 125–131. Springer International Publishing, Cham (2020) 21. Uchiyama, M.: Formation of high-speed motion pattern of a mechanical arm by trial. Trans. Soc. Instrum. Control Eng. 14(6), 706–712 (1978). https://doi.org/10.9746/sicetr1965.14.706 22. Arimoto, S., Kawamura, S., Miyazaki, F.: Bettering operation of robots by learning. J. Robot. Syst. 1(2), 123–140 (1984) 23. Casalino, G., Bartolini, G.: A learning procedure for the control of movements of robotic manipulators. In: IASTED Symposium on Robotics and Automation, pp. 108–111 (1984) 24. Craig, J.: Adaptive control of manipulators through repeated trials. In: Proceedings of ACC, San Diego (1984) 25. Kim, K., Zou, Q.: A modeling-free inversion-based iterative feedforward control for precision output tracking of linear time-invariant systems. IEEE/ASME Trans. Mechatron. 18(6), 1767–1777 (2013). https://doi.org/10.1109/TMECH.2012.2212912
RkJQdWJsaXNoZXIy MTMzNzEzMQ==