Research Of Dspace-based HIL Simulation System

This paper firstly introduces a practical approach in control system development-RapidControl Prototype, the core concept of RCP technology is trying to design product in a virtualenvironment as far as possible to improve R&D efficiency. The applying of RCP&HILtechnology in electronic control system design can accelerate the R&D process, therefore ithas been widely used by automotive and aerospace companies to reduce R&D risks and costs.And then this paper introduces dSpace system, manufactured by a German company,which is an integration platform supporting RCP design and HIL simulation test. dSpacesystem realizes a complete seamless connection with MATLAB. In terms of hardware, it has apowerful CPU equipped with wealthy I/O support, and it also has a software tool packageincluding automatic code generation, download, test and debug tools. dSpace system hasbecome the first choice in control system designing.The controlled object in this experiment was a two-axis servo swivel table, driven byMitsubishi AC servo motors with17-bit encoders, fully being able to meet the needs ofhigh-precision control. The speed control mode was chosen in motor control, and the DS3001board was used to process the encoder signal, the A/D board for limit signal handling. Thus theclosed-loop control system was achieved.While designing the controller, an accurate mathematical model of the servo system wasderived by frequency-domain identification, and then we worked out the LQR state feedbackcontroller. Thanks to dSpace’s system structure, the control effect tests could run without toomany changes in hardware architecture, and finally a fast-response, stable, high precisionpositioning controller was obtained.After the controller is finalized, we run HIL simulation test to see how the controllerworks in practical control. The graphical analysis of the response data of the swivel tablesystem by ControlDesk demonstrates that the controller structure as well as the developingmethods and ideas used in this experiment is fully able to meet the actual needs of industrialcontrol.