Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots

Abstract

In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under consideration into a numerical and a physical substructure, coupled in real time via a measurement and control interface. The numerically computed load vector is applied to the physical substructure by means of multiple actuated winches so that the resulting experimental platform becomes a type of cable-driven parallel robot. In this context, the placement of the actuated winches is important to ensure that the loads can be accurately and robustly transferred to the physical substructure. This paper addresses this problem by proposing a performance measure and an associated actuator placement procedure that enables accurate force tracking and ensures that the numerically calculated loads can be actuated throughout the testing campaign. To clarify the application of the proposed procedure, it is applied to the design of a test setup for a moored barge. Overall, the paper represents a guideline for robust and beneficial actuator placement for real-time hybrid model testing using cable-driven parallel robots for load-actuation.