Abstract
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.
Highlights
Simulation Techniques in StewartThe V-Cycle (Figure 1) as defined in the VDI 2206 guideline is a systematic approach for the development of a mechatronic system [1]
We had to choose a controller that is powerful enough to perform our code in real-time and supports the conversion of our controller model from the Matlab/Simulink environment, to the form that is compatible with the selected controller
It allowed us to experiment with the system in the virtual environment and we avoided the potential risk of destroying or damaging the real equipment. This scenario possibly allows us to investigate the synchronization of the individual linear actuators which must be precise in high-precision Stewart platform applications
Summary
The V-Cycle (Figure 1) as defined in the VDI 2206 guideline is a systematic approach for the development of a mechatronic system [1]. MiL is performed in the simulation environment (i.e., Matlab/Simulink) where both the controller and the plant are mathematical models. We had to choose a controller that is powerful enough to perform our code in real-time and supports the conversion of our controller model from the Matlab/Simulink environment, to the form that is compatible with the selected controller. For this purpose, we have chosen the PLCnext controller, which meets the defined requirements [14]. We present the multibody simulation model of the Stewart platform, the designed feedback control loop and the results of the MiL simulation. The last part discusses the actual and potential benefits of this approach as well as the risks and obstacles that are bound to this development methodology in relation to our case
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