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Compensator Design for Model-in-the-Loop Testing with H-infinity Optimization

Researcher: Jiayang Hu

Supervisor: Prof. Andrew Plummer

University of Bath

UKACC PhD Presentation Showcase

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Vehicle suspension

model

Engine Engine

No MiL MiL

UKACC PhD Presentation Showcase Slide 2

Background

Model-in-the-Loop testing is a method in which the test object is split into a physical part and a simulated part, and connected with actuators and sensors.

Multi-Axis Simulation Table

Vehicle EngineThe Shaking Table simulates the movement of vehicle chassis on road.

The Engine is mounted on the Shaking Table and turned on, the interaction between the engine and the simulated chassis is observed.

An Example of a MiL test system:

Univ logo UKACC PhD Presentation Showcase Slide 3

Compensator for MiL Testing

The block Diagram of the Model-in-the-Loop testing system is given as follows:

Movement

Force Feedback

Actuator

Physical

Driving Signal

Sensor

Simulation

Road Profile

Compensator

High frequency vibration

3rd-order transfer function

Very high magnitude high frequency signal may cause the problem of saturation

Univ logo UKACC PhD Presentation Showcase Slide 4

Compensator Design with H-∞ Optimization

Univ logo UKACC PhD Presentation Showcase Slide 5

Compensator Design with H-∞ Optimization

Movement

Force Feedback

Actuator

Physical

Driving Signal

Sensor

Simulation

Road Profile

CompensatorThe high frequency part in the compensated signal is greatly attenuated, without significantly affecting the accuracy of the signal that we want to reproduce.

Univ logo UKACC PhD Presentation Showcase Slide 6

Conclusion and Future Work

The H-infinity optimization method showed its effectiveness in this example.

More study is needed for the weighting functions settings and experiment will start soon.

Thank you for your attention!