Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F22%3A10250572" target="_blank" >RIV/61989100:27230/22:10250572 - isvavai.cz</a>
Result on the web
<a href="https://mdpi-res.com/d_attachment/applsci/applsci-12-02323/article_deploy/applsci-12-02323-v3.pdf?version=1646117177" target="_blank" >https://mdpi-res.com/d_attachment/applsci/applsci-12-02323/article_deploy/applsci-12-02323-v3.pdf?version=1646117177</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/app12052323" target="_blank" >10.3390/app12052323</a>

Result language
angličtina
Original language name
Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development
Original language description
During the integration phase of a system development, we are often concerned as to whether the designed control algorithm could be performed on the selected controller in real-time. One of the tools to test and validate the control scheme is the Hardware-in-the-Loop (HiL) simulation technique, which is a part of a model-based design methodology. This approach requires a simulation model of a controlled system running in a real-time loop with an intended controller and a control algorithm, which are objects of interest in this method. To perform the test, the control algorithm must be deployed to the controller such as a PLC. This paper presents a use case of the HiL technique in the design of the Stewart platform control, where the controller is PLCnext from Phoenix Contact. The control algorithm was first verified in the Model-in-the-Loop simulation (MiL) and then generated as a code from the Matlab/Simulink environment and deployed to the PLCnext, which resulted in a smoother transition from the design to the integration and testing phase. The presented method is also applicable to other controllers that support code generation.
Czech name
—
Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20301 - Mechanical engineering

Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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