RCP-based HIL Simulation and Control for 2-DOF Tracking Robot of Maneuvering Target

Abstract

The research on tracking control system of maneuvering target is a hot issue. 2-DOF robot has kinematic capability of tracking non-maneuvering and maneuvering targets in air, while the servo control of the robot is crucial for the performance of target tracking. Traditional routine, including modeling, simulation and controller design, is a serial process, so the burdensome iterative steps bring about restrictions to the development period and efficiency. RCP as a live design can realize a smooth and fast transition from conceptual design to experimental verifications. Based on this technique a design routine is proposed and used for HIL simulation of 2-DOF Tracking Robot of Maneuvering Target. Experimental results show that the new routine is efficient and the requirements are better fulfilled.