This thesis deals with the system theory of hardware-in-the-loop simulations (HiL simulations). The aim is to develop a new method to design and analyse mechatronic multidimensional HiL systems. The analogy of certain HiL system configurations to indirect force controls identified in this thesis can be named as a powerful tool of the design process. Within the design process the analysis of the dynamic properties as well as the simulation quality of the HiL systems represents an important component. As an application example a vehicle axle test rig is considered, with which HiL simulations for future applications in chassis development are to be realized. A hexapod, a parallel kinematic machine (PKM), is used to excite the specimen installed in the test rig. The analysis of the state of the art and research includes the topics of HiL simulation as well as of observer-based position and force control of PKM. In the first part of the design process several HiL system and control configurations are developed. Their properties are analysed and compared with each other by means of simulations and theoretical considerations. This is done by means of a simplified analogous model. After a selection of the best HiL configuration for the application example, it is extended in the second part for the multi-axial case. The focus is on the observer-based control of PKM. Simulation results show the effectiveness of the developed method. |