Hardware in loop Simulation for Hydraulic Stewart Master-Slave System

DOI

10.2991/icmeim-17.2017.100How to use a DOI?

Keywords

Master-slave Control, HIL, Stewart Mechanism, Hydraulic, Force Feedback

Abstract

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.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jing-wei Hou
AU  - Yan-li Chen
AU  - Yong-ming Yao
PY  - 2017/02
DA  - 2017/02
TI  - Hardware in loop Simulation for Hydraulic Stewart Master-Slave System
BT  - Proceedings of the 2017 International Conference on Manufacturing Engineering and Intelligent Materials (ICMEIM 2017)
PB  - Atlantis Press
SP  - 591
EP  - 596
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmeim-17.2017.100
DO  - 10.2991/icmeim-17.2017.100
ID  - Hou2017/02
ER  -