Stability analysis and control in the process of floating-target capture with hardware-in-the-loop system
Abstract
Purpose
The purpose of this paper is to develop an easily implemented and practical stabilizing strategy for the hardware-in-the-loop (HIL) system. As the status of HIL system in the ground verification experiment for space equipment keeps rising, the stability problems introduced by high stiffness of industrial robot and discretization of the system need to be solved ungently. Thus, the study of the system stability is essential and significant.
Design/methodology/approach
To study the system stability, a mathematical model is built on the basis of control circle. And root-locus and 3D root-locus method are applied to the model to figure out the relationship between system stability and system parameters.
Findings
The mathematical model works well in describing the HIL system in the process of capturing free-floating targets, and the stabilizing strategy can be adopted to improve the system dynamic characteristic which meets the needs of the practical application.
Originality/value
A method named 3D root-locus is extended from traditional root-locus method. And the improved method graphically displays the stability of the system under the influence of multivariable. And the strategy that stabilize the system with elastic component has a strong feasible and promotional value.
Keywords
Acknowledgements
This work was supposed in part by the National Program on Key Basic Research Project 973 Program under Grant 2013CB733103.
Citation
Xie, Z., Zhao, X., Zhang, Y., Zhang, Q., Yang, H., Sun, K. and Jin, M. (2017), "Stability analysis and control in the process of floating-target capture with hardware-in-the-loop system", Industrial Robot, Vol. 44 No. 1, pp. 49-57. https://doi.org/10.1108/IR-06-2016-0177
Publisher
:Emerald Publishing Limited
Copyright © 2017, Emerald Publishing Limited