Controller Design and Actuator Dynamics Identification for a Hybrid Simulation Testing System

摘要

This paper describes the development of a feedforward controller and an actuator dynamics identification procedure for a hybrid simulation testing system. The feedforward control is integrated with a linear feedback control that has the function to compensate for tracking errors due to modelling uncertainty and unknown reaction force of the device under test. During hybrid simulations it is crucial the compensation of actuation system dynamics in order to avoid instability. The compensation can be provided identifying the system dynamics. To this aim, a nonlinear parameter estimator, based on the extended Kalman filter, has been developed. Experimental results are presented in order to highlight the performance of the proposed nonlinear estimator.