This paper introduces a stabilization technique of nonlinear coupled analysis for hydraulic excavators, in which a rigid body system and a hydraulic system are coupled. Also introduced is a "Hardware-In-the-Loop Simulation (HILS)" for electric motors, in which the above technique is exploited. The rigid body system consists of a rotating element and a linear motion element, and the stabilization technique converts the motion of the rotating element into linear motion, enabling the motion of both the systems to be described in an ordinary differential equation without introducing any constraint conditions for the rigid bodies. This enables a coupled analysis with one motion equation that shares the state quantities of both the systems, thus improving the stability of the numerical analysis. This technique has been used to simulate in real time the actual load acting on the electric motor, which has been reproduced on a motor-load testing apparatus and has realized an electric motor HILS system.
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