Model predictive control of dynamically substructured systems with application to a servohydraulically-actuated mechanical plant
Li, Guang; Stoten, D.P.; Tu, Jiaying
Date: 1 February 2010
Article
Journal
IET Control Theory and Applications
Publisher
Institution of Engineering and Technology (IET)
Publisher DOI
Abstract
Dynamically substructured systems (DSS) are increasingly used by the dynamics testing community. DSS involves the physical testing of full-size critical components in parallel with numerical testing of the remaining components. This has certain advantages over other testing methods. However, the synchronisation of the signals at the ...
Dynamically substructured systems (DSS) are increasingly used by the dynamics testing community. DSS involves the physical testing of full-size critical components in parallel with numerical testing of the remaining components. This has certain advantages over other testing methods. However, the synchronisation of the signals at the interface between the physical and numerical substructures of DSS requires a high fidelity controller. In practice, the performance of the DSS testing can be degraded by input saturation of the actuators. In this study, the authors use model predictive control (MPC) to cope with the saturation problem in DSS. To facilitate the MPC and observer design for DSS, a modified DSS framework based on an existing one is proposed. As a case study, a quasi-motorcycle (QM) system is converted into the modified DSS framework and a traditional on-line MPC control strategy is implemented in real time.
Engineering
Faculty of Environment, Science and Economy
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