HIL is an increasingly used technique in the development of high performances devices.
By means of this method it is possible to simulate sensors, actuators and mechanical components of a system before they are integrated.
The fields in which it is most diffused are automotive systems, aerospace, robotics, power system generators and offshore and marine engineering.
The high performance required by the HIL system in order to perform the simulation tasks needs an accurate mechanical electronic and software design. A fundamental tool in the support of a design system of this type is Co-Simulation.

 

Requirements: Co-simulation, parallel kinematic manipulator, HIL.
Milestones: presentation at NAFEMS World Congress 2019 in Quebec City, Canada.

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«Hardware-in-the- loop» scheme for design of innovative substructure concepts for 10MW floating offshore wind turbines . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
«Hardware-in-the- loop» scheme for design of innovative substructure concepts for 10MW floating offshore wind turbines . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
Actuation torques measured in Test number 2. [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.] Laser position measurements of the carriage indicated a stick-slip phenomenon occurring below a critical velocity threshold . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
Actuation torques measured in Test number 2. [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.]

Laser position measurements of the carriage indicated a stick-slip phenomenon occurring below a critical velocity threshold . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
Digital Twin: co-simulation environment . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
Digital Twin: co-simulation environment . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
Command torques comparison between real simulation results. Torque command on 1-2, 3-6 and 4-5 match perfectly so only one signal per couple is provided . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
Command torques comparison between real simulation results. Torque command on 1-2, 3-6 and 4-5 match perfectly so only one signal per couple is provided . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
following error improvement after feedforward torque implementation and Digital-Twin tuning . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
following error improvement after feedforward torque implementation and Digital-Twin tuning . [“Co-Simulation of a 6 DOF manipulator for HIL applications: design, development and results- H GIBERTI, G TODESCHINI, F LA MURA, L PALAMARA.].
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