High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control
| Autor: | Giovanni Todeschini, Francesco La Mura, Hermes Giberti |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Admittance Computer science lcsh:Mechanical engineering and machinery 020209 energy Mechanical Engineering Hardware-in-the-loop simulation Floating wind turbine Control engineering 02 engineering and technology Aerodynamics hardware in the loop Position-Based-Admittance-Control parallel kinematic machine 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering lcsh:TJ1-1570 Motion planning Motion interpolation Software architecture Energy (signal processing) |
| Zdroj: | Robotics, Vol 7, Iss 1, p 8 (2018) Robotics; Volume 7; Issue 1; Pages: 8 |
| ISSN: | 2218-6581 |
| Popis: | This article focuses on a Hardware-In-the-Loop application developed from the advanced energy field project LIFES50+. The aim is to replicate, inside a wind gallery test facility, the combined effect of aerodynamic and hydrodynamic loads on a floating wind turbine model for offshore energy production, using a force controlled robotic device, emulating floating substructure’s behaviour. In addition to well known real-time Hardware-In-the-Loop (HIL) issues, the particular application presented has stringent safety requirements of the HIL equipment and difficult to predict operating conditions, so that extra computational efforts have to be spent running specific safety algorithms and achieving desired performance. To meet project requirements, a high performance software architecture based on Position-Based-Admittance-Control (PBAC) is presented, combining low level motion interpolation techniques, efficient motion planning, based on buffer management and Time-base control, and advanced high level safety algorithms, implemented in a rapid real-time control architecture. |
| Databáze: | OpenAIRE |
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