Example of Real-Time Application for Scaled Test Rig

This chapter presents the real-time simulation of a scaled test rig executed with the dSpace hardware system. The assembly of the real-time mechatronics model relies on the developed contact model, and the multibody model created by using existing SimMechanics libraries, whereas the controllers are described as a regular MATLAB/Simulink model. Models and controller tasks are run under dSpace Release 6.4. A novelty of this chapter is the introduction of the mechatronics model of a scaled test rig incorporating a more accurate simulation of the contact forces, which allows it to be executed in a real-time mode and also facilitates the development of a hardware-in-the-loop system to establish a virtual running test rig.