Models developed on the basis of the Poincaré-Steklov filter are designed to expand the possibilities of HIL (Hardware-in-the-loop) modeling technology.
Most simulation packages provide their users the ability to simulate systems in real time.
One of the more complex real-time simulations is the HIL or PHIL simulation. This is due to the fact that the original system is divided into two parts that are strongly connected to each other (strong feedback loop), with one part being simulated on a computer, and the other being a real physical object. Parts exchange data with each other at each simulation step with some delay. The presence of strong feedback loop and delay leads to instability and/or inadequacy of the results of HIL simulation compared to the results of the simulation of the original system. Various models/algorithms are used to solve these problems.
System functionality:
Models can be implemented in any simulation environment that uses HIL modeling technology.
The models make it possible to provide better stability and adequacy of the results of HIL simulation compared to analogues, both for single-port and multi-port connections.
Models can be used in solving robotics problems, in particular, when the process of controlling the moving parts of the robot can be implemented by the technology of HIL simulation.