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Hardware in loop Simulation for Hydraulic Stewart Master-Slave System

机译：液压仪表液压仪主从系统环路仿真中的硬件

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摘要

A hardware in loop (HIL) simulation platform for a hydraulic Stewart master-slave system used for curved surface grinding work is developed. The communication between hydraulic Stewart force feedback joystick and the computer is realized by AD/DA card, which was used to improve and evaluate the performance of the real controller. The software built by MATLAB/simulink in the computer includes the functions such as the master cylinder controller, the slave hand virtual plant the slave cylinder controller and the bilateral controller, which is applied to improve and evaluate the performance of the real controller. A workspace based control strategy was performed to validate the system.
机译：开发了用于弯曲表面研磨工作的循环（HIL）仿真平台的环路（HIL）仿真平台。 液压踩踏力反馈操纵杆和计算机之间的通信由AD / DA卡实现，用于改进和评估真实控制器的性能。 Matlab / Simulink在计算机中构建的软件包括诸如主缸控制器，从机虚拟工厂的机器缸控制器和双边控制器等功能，应用于改进和评估真实控制器的性能。 执行基于工作区的控制策略以验证系统。

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