| The objective of this thesis is to develop, implement and analyze the performance of the force control algorithms as applied to the computer-controlled dual-channel electro-hydraulic servo system used to torque material on a test platform. This work, which comprises both experimental and simulation studies, is build upon the technical contract signed with Chongqing ChangAn Company Ltd.. The analysis indicates that the large variation of the object parameters, redundant force, deformation of the specimen and the disturbance caused by the frictional moment are four major factors affecting the degree of control accuracy. In a spirit of scientific attitude and serious principle, we determine that the multi-sensor data fusion control programme is most applicable of many possible choices after exhaustive discussion, investigation, simulation, comparison and verification according to contract provisions and relevant expertise. In the work of hardware we are responsible for the designing of the dual-channel servo amplifier which is realized through Protel99SE — a software applied to drawing printed circuit board. The programming work is accomplished in the Visual C++6.0 compiling environment. The software has friendly interface and simplified operation. In view of the real-time characteristic required by the project, some corresponding measures, such as dynamic link library, is in action and the structure of the software is also optimized for the same reason. |
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