This paper presents a generalized framework to analyze and design controllers for a class of dynamic emulation systems. This class of systems features some structurally distinctive control frameworks which inherently limit the available bandwidth for dynamic emulation. The primary focus is on control structures that we define as indirect. This means the signal from the controller does not affect the physical plant directly; it interacts in combination with other exogenous signals to affect a behavior on the physical system interacting with the emulated load. It is shown that the achievable closed-loop performance is limited in a unique way: the high-frequency response of the controlled closed-loop system converges to the dynamics of the open-loop physical plant that is interacting with the emulated load. This paper illustrates the three controller configurations of the indirect emulation and gives guidelines on how to improve the performance within the identified structural limitations. The three configurations are: a feedback design measuring plant output only, a feedforward design measuring an exogenous signal, and a two degree-of-freedom design combining feedback and feedforward measurements. A detailed analysis in the frequency domain is used to support the experimental results illustrated on a Hardware-in-the-Loop (HIL) system. The demonstration case is a high-bandwidth transient dynamometer to emulate rapidly varying loads associated with an earthmoving vehicle powertrain.
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e-mail: rzhang@asme.org
e-mail: alleyne@uiuc.edu
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March 2005
Technical Papers
Dynamic Emulation Using an Indirect Control Input
Rong Zhang,
e-mail: rzhang@asme.org
Rong Zhang
Department of Mechanical and Industrial Engineering
, University of Illinois at Urbana-Champaign, 1206 West Green Street, Urbana, IL 61801 Tel: (217) 244-0845 Fax: (217) 244-6534
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Andrew G. Alleyne
e-mail: alleyne@uiuc.edu
Andrew G. Alleyne
Department of Mechanical and Industrial Engineering
, University of Illinois at Urbana-Champaign, 1206 West Green Street, Urbana, IL 61801 Tel: (217) 244-0845 Fax: (217) 244-6534
Search for other works by this author on:
Rong Zhang
Department of Mechanical and Industrial Engineering
, University of Illinois at Urbana-Champaign, 1206 West Green Street, Urbana, IL 61801 Tel: (217) 244-0845 Fax: (217) 244-6534e-mail: rzhang@asme.org
Andrew G. Alleyne
Department of Mechanical and Industrial Engineering
, University of Illinois at Urbana-Champaign, 1206 West Green Street, Urbana, IL 61801 Tel: (217) 244-0845 Fax: (217) 244-6534e-mail: alleyne@uiuc.edu
J. Dyn. Sys., Meas., Control. Mar 2005, 127(1): 114-124 (11 pages)
Published Online: June 16, 2004
Article history
Received:
January 17, 2002
Revised:
June 16, 2004
Citation
Zhang, R., and Alleyne, A. G. (June 16, 2004). "Dynamic Emulation Using an Indirect Control Input." ASME. J. Dyn. Sys., Meas., Control. March 2005; 127(1): 114–124. https://doi.org/10.1115/1.1876496
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