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Servo system was built in Amesim based on the mathematical model, and a simulation analysis was then performed, aiming to replicate the input–output characteristics of the DEMA system to the greatest extent and to verify the control strategy.In the simulation of sweep characteristics, 10–20% of the EMA’s rated output is generally taken. The GSX40-1801 model boasts a rated output force of 17.6 kN, so 2 kN is taken as an example for simulation analysis.Under the condition of no external position disturbance input, a performance simulation analysis was conducted on the DEMA system introduced with a PID controller. Details are as follows:(1)Given a step command of 10 kN, a response curve of the DEMA system was obtained (as shown in Figure 9), with a rise time of 1.6 s and a steady-state error of 3 N (0.03%). It is worth mentioning that this result is relatively ideal. For actual EMA systems, such high control accuracy would not be possible due to sensor testing errors and nonlinear friction.(2)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 1 Hz, a response curve of the DEMA system was obtained (as shown in Figure 10), wherein the input curve and the output curve almost completely overlapped, with a tracking error of 63 N (3.15%).(3)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 5 Hz, a response curve of the DEMA system was obtained (as shown in Figure 11), wherein the overlap between the input curve and the output curve was relatively high, with a tracking error of 300 N (15%).(4)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 10 Hz, a response curve of the DEMA system was obtained (as shown in Figure 12), wherein the overlap between the input curve and the output curve was slightly poor, with a tracking error of 550 N (27.5%).These simulation results demonstrated that the PID control method was simple and practical, which could improve the dynamic characteristics of the system and enhance its response speed and tracking accuracy. Nevertheless, the tracking accuracy of the DEMA system gradually decreased as the frequency of the command signal increased. 4.3. Design of a Force Servo System Controller to Overcome External Position DisturbancesThe end position of the EMA force servo system changes as the position of the loaded object changes. This change in the end position generates

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Ema 2 η ema C T C E + ( B fm + s J m ) ( s L m + R m + K i K f ) + ( s m ema + B fr ) ( s L m + R m + K i K f ) } (10) 4.2. Design of the Force Servo System ControllerCompared with GEMAs, DEMAs lack an internal reducer, resulting in a larger equivalent moment of inertia from the system’s output end to the motor’s output end. Furthermore, due to the smaller system damping of DEMAs, the force servo system exhibits poor stability without the addition of a compensation link.In this study, an EXLAR GSX40-1801 DEMA was chosen to discuss and analyze the control strategy and performance of the EMA force servo system. The GSX40-1801 model boasts a rated output force of 17.6 kN, a maximum speed of 127 mm/s, a maximum stroke of 457 mm, and a screw lead of 2.54 mm. Detailed parameters of this EMA can be found on EXLAR’s official website and thus are not elaborated herein [47].The stability of the closed-loop control system is crucial in the control system design. According to control theory, the introduction of speed feedback can increase the system’s damping ratio, thereby enhancing its stability. After the introduction of speed feedback with no control parameters added (even the P controller), and given a step command of 10 kN, a response curve of the DEMA system was obtained (as depicted in Figure 7), with a rise time of 2.3 s and a steady-state error of 477 N (4.77%). This indicated that appropriately introducing speed feedback could increase the damping of the DEMA system and improve its stability. However, as can be seen in Figure 7, the DEMA at this moment showed poor rapidity and response speed.To further improve the tracking accuracy and rapidity of the DEMA system, a PID controller, recognized for its straightforward algorithm, high reliability, and wide applicability, was introduced on the basis of speed feedback. The system block diagram after the introduction of a PID controller is shown in Figure 8.Amesim is a simulation platform capable of building precise and complex system models across various disciplines and domains. Its application in engineering has been widely recognized by professionals in fields such as aviation, aerospace, navigation, and the automotive industry. In this study, a simulation model of the DEMA force

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Used for writing control programs, monitoring system status, and outputting control commands, along with data acquisition, processing, and storage; the controller is used to resolve the control commands from the upper computer and outputs them to the driver, while also collecting and processing EMA operating state signals (e.g., position, speed, current) and reporting them to the upper computer; the driver is used for power supply, data transmission, and current-loop control for the EMA; and the electric system is used for power supply and distribution. 6.1. Static Anti-Disturbance TestThis section tests the anti-disturbance performance of the EMA under static conditions, and the tracking error and vibration amplitude are used as indicators to measure the anti-jamming performance.To verify the anti-disturbance control strategy for the force servo system, the DEMA was used as a loaded cylinder and operated in a force closed-loop mode, while the GEMA was used as a loading cylinder and operated in a position closed-loop mode. The GEMA was given a −6 mm~+6 mm slowly changing position control command as the DEMA’s external position interference, and the DEMA was given a constant output command of 10 kN for force closed-loop control.The error curve of the DEMA output force measured by the test is shown in Figure 23a. The DEMA can maintain a constant output force of 10 kN with maximum error of no more than 5 N under the condition of external position interference of ±5 mm. In other words, under static conditions, the DEMA force servo system has high robustness and good anti-disturbance characteristics.To verify the anti-disturbance control strategy for the position servo system, the GEMA was used as a loaded cylinder and operated in a position closed-loop mode, while the DEMA was used as a loading cylinder and operated in a force closed-loop mode. The DEMA was given a slowly changing output force signal of −10 kN~+10 kN as the external interference force of the GEMA, and the GEMA was given a constant output command of 0 mm for position closed-loop control.The error curve of the GEMA output position measured by the test is shown in Figure 23b. Under the condition of −10 kN~+10 kN~−10 kN external force interference, the GEMA can maintain a constant output command of 0 mm, and the error is no more than 0.06 mm. In other words, under static conditions, the GEMA position servo system has high robustness and good anti-disturbance characteristics. Additionally,. Dema Virtual Notes, kostenloser Download. Dema Virtual Notes 3.0.0.2: Dema Virtual Notes is a digital note-taking application created by Oibaf Tech. Beliebteste Downloads Neueste Updates Neueste Nachrichten

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The force servo system is mainly divided into static position disturbance and dynamic position disturbance.For the simulation model, the current-loop parameters P and I are auto-tuned through the PMSM module (as shown in Figure 14) in the servo motor model. The method for obtaining the PID parameters of the speed and position loops is as follows: First, a set of usable PID parameters is obtained using the most commonly used Ziegler–Nichols method in engineering applications. Then, the parameters are refined in the nearby parameter space based on Amesim, and one of the optimal sets of parameters is selected for simulation.In this section, the PID parameters selected for the speed loop are 10 rpm/N, 0 rpm/(N·s), and 0.1 (rpm·s)/N, while the PID parameters selected for the position loop are 900 rpm/N, 0.3 rpm/(N·s), and 0 (rpm·s)/N, respectively.Under the conditions of an external position disturbance signal with an amplitude of 10 mm and a frequency of 5 Hz, a performance simulation analysis was conducted on the DEMA system introduced with a PID controller and a feedforward correction element. Details are as follows:(1)Given a motion command of 0 kN, a response curve of the DEMA system was obtained (as shown in Figure 15), wherein the system with the feedforward correction element added significantly weakened the disturbance force, with an output force of approximately 2 × 10−10 kN.(2)Given a step command of 2 kN, a response curve of the DEMA system was obtained (as shown in Figure 16), wherein the system with the feedforward correction element added exhibited a smooth output curve without jitter.(3)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 5 Hz, a response curve of the DEMA system was obtained (as shown in Figure 17), wherein the system with the feedforward correction element added exhibited a smooth output curve without jitter, with a tracking error of 300 N (15%).(4)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 10 Hz, a response curve of the DEMA system was obtained (as shown in Figure 18), wherein the system with the feedforward correction element added exhibited a smooth output curve without jitter, with a tracking error of 550 N (27.5%).Through comparative analysis, it can be seen that under the condition of an external position disturbance signal of 10 mm at 5 Hz, the motion accuracy and dynamic performance of the DEMA force servo system. Dema Virtual Notes, kostenloser Download. Dema Virtual Notes 3.0.0.2: Dema Virtual Notes is a digital note-taking application created by Oibaf Tech. Beliebteste Downloads Neueste Updates Neueste Nachrichten Dema Virtual Notes 2025 v3.0 beta Download Downloading Dema Virtual Notes 2025 v3.0 beta 1 Dema Virtual Notes is a little and stable program that puts little notes on your desktop.

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It is not difficult to calculate from the test data that the closed-loop stiffness of the GEMA system is about 2 × 108 N/m. 6.2. Dynamic Anti-Disturbance TestThis section tests the anti-disturbance performance of the EMA under dynamic conditions, and the tracking error and vibration amplitude are used as indicators to measure the anti-jamming performance.To verify the anti-disturbance control strategy for the force servo system, the GEMA was given a sinusoidal command of 5 mm at 5 Hz as an external position disturbance for the DEMA, and the DEMA was given a sinusoidal command of 5 kN at 3 Hz for force closed-loop control.The DEMA data are shown in Figure 24a. Under the condition of an external position disturbance of 5 mm at 5 Hz, the DEMA system introduced with a composite controller (consisting of a PID controller and a feedforward correction element) exhibited a smooth simulation curve with no jitter and almost no tracking error. This indicated that the motion accuracy and dynamic performance of the DEMA force servo system were almost unaffected by the external position disturbance. The variation trend in the test curve integrated well with that of the simulation curve, with minimal tracking error, thus verifying the correctness of the anti-disturbance control strategy for the force servo system. However, compared with the simulation curve, the test curve exhibited a small range of high-frequency jitter, approximately ±30 N (0.6%), which was caused by factors such as mechanical clearance, stiffness, and sensor testing accuracy.To verify the anti-disturbance control strategy for the position servo system, the DEMA was given a random disturbance force signal within the range of ±1 kN as an external disturbance force for the GEMA, and the GEMA was given a sinusoidal command of 10 mm at 2 Hz for position closed-loop control.The GEMA data are shown in Figure 24b. Under the condition of a random disturbance force within the range of ±1 kN, the GEMA system introduced with a PID controller exhibited a smooth simulation curve with no jitter, and the maximum tracking error is about 0.2 mm (2%). This indicated that the motion accuracy and dynamic performance of the GEMA position servo system were almost unaffected by the external disturbance force, and there was no need to adopt the composite control method. The variation trend in the test curve accorded with that of the simulation curve, with small error and no jitter, thus verifying