Vibration Output Force Tracking Control Based on Acceleration Feedback

doi:10.3969/j.issn.1000-565X.2014.07.017

Journal of South China University of Technology (Natural Science Edition) ›› 2014, Vol. 42 ›› Issue (7): 104-109.doi: 10.3969/j.issn.1000-565X.2014.07.017

• Mechanical Engineering • Previous Articles Next Articles

Vibration Output Force Tracking Control Based on Acceleration Feedback

Zou Yan-biao Zhang Xian-wei

School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China

Received:2014-01-27 Revised:2014-03-31 Online:2014-07-25 Published:2014-06-01
Contact: 邹焱飚(1971-)，男，博士，副教授，主要从事机器人理论及工程应用研究． E-mail:ybzou@scut.edu.cn
About author:邹焱飚(1971-)，男，博士，副教授，主要从事机器人理论及工程应用研究．
Supported by:
广东省战略性新兴产业核心技术攻关项目( 2011A091101001)

Abstract

Abstract:

In order to achieve superb precision tracking control of vibration output force,the corresponding controlalgorithm based on acceleration feedback is investigated.In this investigation,a vibration experiment device drivenby AC servo motor is designed,and a system dynamics model is established.On the Matlab /Simulink platform,thecontroller parameters are optimized by means of a real-coded adaptive genetic algorithm,and the sinusoidal outputforce tracking control is simulated.Finally,a vibration output force control system is built on the basis of the realtimecontrol software TwinCAT,and tracking experiments are carried out through the sinusoidal output force signalwith an amplitude of 50 N at the frequencies of 13.33,16.67 and 22.22Hz.Experimental results demonstrate thefeasibility of the vibration output force tracking control device and the effectiveness of the control algorithm.

Key words: vibration, force tracking control, acceleration feedback, genetic algorithm

CLC Number:

TP27

Zou Yan-biao Zhang Xian-wei. Vibration Output Force Tracking Control Based on Acceleration Feedback[J]. Journal of South China University of Technology (Natural Science Edition), 2014, 42(7): 104-109.

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Vibration Output Force Tracking Control Based on Acceleration Feedback

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