The Design and Control of Electromagnetic Actuator for Six-Axis Force Sensor Dynamic Calibration

Jiu Fang Pei; De Zhang Xu; Wan Zhang

doi:10.4028/www.scientific.net/KEM.693.1624

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 693The Design and Control of Electromagnetic Actuator...

The Design and Control of Electromagnetic Actuator for Six-Axis Force Sensor Dynamic Calibration

Abstract:

In order to calibrate six-axis force sensor dynamic characteristics, double E-type electromagnetic actuator is operated by electric magnets. It is capable of sending sinusoidal excitation signal with variable amplitude and frequency continuously. The theoretical modeling and linearization is established. Repetitive control plus proportion control method is presented. And the stabilization is analyzed by small gain theorem. Simulation results show, compared to PID control method, the proposed method has higher trajectory accuracy, no steady-state error and the slightly smaller bandwidth. It has theoretical and practical value to improve six-axis force sensor dynamic characteristics measurement accuracy.

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Periodical:

Key Engineering Materials (Volume 693)

Pages:

1624-1631

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.693.1624

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Online since:

May 2016

Authors:

Jiu Fang Pei*, De Zhang Xu, Wan Zhang

Keywords:

Electromagnetic Actuator, Repetition Control, Sinusoidal Excitation Signal, Six-Axis Force Sensor

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* - Corresponding Author

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