Reducing step size of Hardware-in-loop Simulation in electro-dynamic shaker controller design by electrical-mechanical analogy

Shaker is the key facility of the vibration test system. The wide frequency band of the vibration signal poses a challenge on the shaker controller design, therefore a hardware in loop (HIL) test is desired to verify the controller performance before it is deployed in the real device. The test accuracy depends on the accurate model of the shaker simulated in the HIL simulator, which must be discretized as required by the HIL solver. In this paper, we are going to show that a high resonance peak of the shaker above 1500Hz, which is associated with both the electrical modes and the mechanical modes, can be greatly affected by the step of the discretized model. To overcome the impact of discretization effects on controller validation, this paper utilizes an equivalent model of the shaker derived from the electro-mechanical analogy method, which allows the shaker to be accurately modeled and discretized at a 1μs step in the electrical domain of the HIL402. This provides a solution for the HIL validation of mechatronic systems with high-frequency characteristics, improving the difficulties in modeling such systems in HIL. The effectiveness of the proposed method is verified in both frequency domain test and time domain test under the Typhoon 402 HIL environment.