Advances in Italian Mechanism Science by Giuseppe Carbone & Alessandro Gasparetto

Author:Giuseppe Carbone & Alessandro Gasparetto
Language: eng
Format: epub
ISBN: 9783030033200
Publisher: Springer International Publishing

The second test is more challenging because it features velocity reversal and higher dynamics with respect to the first. Besides that, it provides an example of admittance–based control which is closely similar to the actual operative condition of the machine when used for off-shore wind turbine testing.

Please consider that Digital Twin behavior should replicate with fidelity the real device thus featuring similar steady state error, tracking error, etc...

The slider reference motion laws are provided to the digital and real device as input while the actual displacement is acquired.

Trapezoidal Velocity Profile. The error between simulation and the measured actual position is less than . Figure 6A shows a particular of the ramp where it is possible to appreciate how the reference following error is closely similar for digital and real device cases. This is a proof of correct modeling.

Dynamic Replication Test. As what concerns the second test, it is interesting to notice (Fig. 6B) how the 6 sliders cooperate to recreate the dynamic of the simulated system in the work-space due to the fully coupled highly non linear kinematic relationships between actuated joint space and TCP workspace variables.

Fig. 6.(A) Trapezoidal Velocity Profile, a particular showing the dotted line (Real) and the green line (Digital) almost overlapping. (B) Dynamic Replication Test, the motion of the 6 sliders results in the TCP displacement along the y axis according to the simulated system characteristics and input (Color figure online)

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