Passivity Control in Real-Time Hybrid Testing
Passivity Control in Real-Time Hybrid Testing
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DOI：
10.1109/control.2018.8516814
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发表时间：
2018-09
期刊：
影响因子：
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通讯作者：
L. D. Hashan Peiris;A. Plummer;J. D. du Bois
中科院分区：
文献类型：
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作者：
L. D. Hashan Peiris;A. Plummer;J. D. du Bois
本文详细介绍了无源控制在稳定具有线性和非线性物理子结构的实时混合测试 (RtHT) 系统中的应用。这种新颖的应用在混合系统中的有效性在时域和频域中进行了评估，特别关注稳定性和跟踪性能的改进。选择 1 自由度系统作为测试用例，并将传递动力学建模为纯延迟。人们发现，远程操作行业中广泛使用的无源控制的应用可以在各种操作条件下稳定混合测试系统，同时也导致跟踪改进。与传统的基于模型的补偿方案不同，无源控制的应用不需要任何有关传输系统和/或物理子结构的信息，使得该技术在补偿无法获得精确线性模型的复杂混合测试中实用且有效。
This paper details the application of passivity control in stabilizing real-time hybrid test (RtHT) systems with linear and nonlinear physical substructures. The effectiveness of this novel application in hybrid systems is assessed in the time and frequency domains with special attention given to improvements in stability and tracking performance. A 1 degree-of-freedom system is chosen as a test case with transfer dynamics modelled as a pure delay. The application of passivity control widely used in the teleoperation industry has been found to stabilize the hybrid test system under a wide range of operating conditions whilst resulting in tracking improvements as well. Unlike conventional model based compensation schemes, the application of passivity control does not require any information about the transfer system and/or physical substructure making this technique practical and effective in compensating complex hybrid tests where accurate linear models are unavailable.