Force-position Switching Control And Implementation Based On Velocity Damper

The technology of force-position control is the key of semiconductor and digitalequipments. Based on the latest new type full automatic welding machine, a force-position switching control system was successfully designed.Position control and force control system were designed firstly to build a platformfor the switching control. In position control system, position control framework ofdouble feedforward and variable parameter PID has been realized. Then, there are threekinds of velocity planning algorithm were designed. In order to improve the stability ofsystem, two order low pass filter and notch filter were designed finally. In the forcecontrol system, direct force control scheme and indirect control scheme were compared.After a good comparison on controlling effects, cost and other aspects, the indirect forcecontrol scheme was ultimately determined. Last but not the least, two kinds of switchingcontrol method have been designed. They are direct switching control and switchingcontrol based on velocity damper. First, controlling framework was put forward. Then,switching control principle was analyzed. Next, some experiments have been taken todiscuss advantages and disadvantages. Last, optimal parameters of each influence factorwere finally determined.The test results showed that position control accuracy could reach to3micrometerin3microsecond under the condition of30gravity acceleration with1m/s speed.Switching process was stable and the fluctuation was small. The impact force was lessthan40g and no rebound. Force control effect could be reached within±3g. Thestability and reproducibility test results could be reached within±5g. It turned out to bea success and offer a significant reference to the relevant research.