Abstract
This paper reports on the design and control of a high-performance fast tool servo (FTS) having a moderate stroke and a high bandwidth, which is actuated by the normal-stressed electromagnetic force. An analytical model of both the mechanical mechanism and electromagnetic driving circuit is established. Assisted by this model, the structural parameters are optimized through a typical genetic algorithm. For the control system, a damping controller combining a lead-lag compensator is firstly adopted to modify the system dynamics, and a PID controller with a feed-forward compensator is further employed for the motion control. Both the open-loop and closed-loop tests are conducted to demonstrate the performance of the FTS.
Supported by National Natural Science Foundation of China (U2013211), Outstanding Youth Foundation of Jiangsu Province of China (BK20211572) and Fundamental Research Funds for the Central Universities (30921013102).
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Zhu, ZH., Shen, D., Huang, P., Zhu, L., Zhu, Z. (2021). A High-Performance Normal-Stressed Electromagnetic Fast Tool Servo. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_35
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DOI: https://doi.org/10.1007/978-3-030-89098-8_35
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