Abstract
This paper presents a control concept for a hardware-in-the-loop test rig. The aim is to develop optimized control concepts for aircraft fatigue tests, without risking component damage. The test rig simulates a mechanical structure´s response on a force-controlled axis through two servohydraulic axes. Since speed and position have a significant influence on the force control, both must be controlled as precisely as possible and independently of the force control. Classic single-loop PID controllers are not sufficient in this case. Therefore, a control concept consisting of a position controller and a velocity feedforward control using a characteristic map for partial linearization of the controlled system is proposed.
The performance of the controller is compared with a single-loop PID control through step tests, and its influence on system dynamics is analyzed. The results show that the proposed control concept leads to better control behavior without noticeable overshooting compared to the PID control. The use of a characteristic map for load pressure correction also simplifies the mapping of non-linear behavior of hydraulic valves and determination of suitable parameters for feedback only considering information usually available from data-sheets.
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Abbreviations
- \(A\) :
-
Piston area
- \(B\) :
-
Valve coefficient
- \({F}_{L}\) :
-
Load force
- \({K}_{\mathrm{F}}\) :
-
Force feedback gain
- \({K}_{\mathrm{Li}\dot{\mathrm{x}}}\) :
-
Velocity proportional leakage
- \({K}_{\dot{\mathrm{x}}}\) :
-
Velocity feed forward gain
- \({p}_{0}\) :
-
Supply pressure
- \({p}_{A}\) :
-
Pressure chamber A
- \({p}_{B}\) :
-
Pressure chamber B
- \({p}_{L}\) :
-
Load pressure
- \({p}_{ref}\) :
-
Reference pressure
- \({p}_{T}\) :
-
Tank pressure
- \({Q}_{ref}\) :
-
Reference volume flow
- \({T}_{\mathrm{H}}\) :
-
Hydraulic time constant
- \({T}_{\mathrm{M}}\) :
-
Mechanical time constant
- \({V}_{\mathrm{H}}\) :
-
Hydraulic amplification
- \({V}_{\mathrm{M}}\) :
-
Mechanical amplification
- \({V}_{\mathrm{Qy}}\) :
-
Volume flow pressure gain
- \(x\) :
-
Displacement
- \({x}_{\mathrm{set}}\) :
-
Displacement set point
- \(y\) :
-
Valve opening
- \({y}_{max}\) :
-
Maximum valve opening
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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG
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Haas, C., Schmitz, K. (2024). Control Strategy for a Hardware in the Loop Test Bench. In: Stryczek, J., Warzyńska, U. (eds) Advances in Hydraulic and Pneumatic Drives and Control 2023. NSHP 2023. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-031-43002-2_9
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DOI: https://doi.org/10.1007/978-3-031-43002-2_9
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