The Research and Application of dSPACE-based Hardware-In-The-Loop Simulation Technique in Servo Control

Hardware-in-the-loop simulation technique is a kind of real-time simulation technique in real process, the actual plant can be placed inside the simulation loop, and the control parameters can be tuned on line so as to adjust the performance of real time system. A dSPACE based hardware-in-the-loop simulation system is presented in this paper to demonstrate the direct use of MATLAB/Simulink in real time control. Through the combination of these tools, a soccer robot servo system is investigated and a satisfactory result is achieved.