Hardware-In-The-Loop testing methods in the context of structural dynamics allow tests of components of complex systems with realistic boundary conditions. For coupling a virtual and an experimental component in real time, interface data, used for equilibrium and compatibility constraints has to be available. However, in many cases, sensors cannot be placed directly on the interface. One can use the available sensor data and a model of the actuation system to estimate the forces and compatibility quantities on the interface. We present a framework making it possible to apply various techniques to the solution of the interface force and state estimation problem. The proposed techniques include a simple force projection, an inverse dynamics model and an augmented-state Kalman Filter. The different approaches are compared in a numerical case study, where a test system consisting of a beam specimen and a rigid body actuation system are investigated.
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