About Qt ema
Disturbance forces on the EMA, thereby badly affecting the accuracy and dynamic performance of the force servo system. Therefore, the force servo system should suppress disturbance forces to the greatest extent possible. In other words, the EMA force servo system should have sufficient anti-disturbance capability, rapidity, and loading accuracy.In this study, drawing on the principle of structure invariance, a relatively complex high-order transfer function GT associated with various parameters such as speed and acceleration was added as feedforward compensation to xa, so as to suppress the impact of external position disturbances on the system’s motion performance. The system model block diagram with the feedforward correction element added is shown in Figure 13.Since the stiffness Ks of the force sensor is normally taken as 5 × 107 N/m, much larger than the connection stiffness St between the LEMA and the load connection point, the effect of the stiffness Ks of the force sensor on the system’s stability and dynamic characteristics can be neglected when calculating the controller parameters [45]. It can be approximated as a rigid connection, and thus the open-loop transfer function of the force servo system can be simplified as follows: F ema = R k ema η ema K i K v C T u − s F ab F ema + S t x a s 2 m el + S t s L m + R m + K i K f = ( s 2 m el + S t ) R k ema η ema K i K v C T u − ( F 3 s 3 + F 2 s 2 + F 1 s ) x a G 3 s 3 + G 2 s 2 + G 1 s + G 0 (11) where: F 3 = S t ( L m m ema + R J m L m η ema k ema 2 ) F 2 = S t [ η ema k ema 2 R ( J m R m + J m K i K f + B fm L m ) + B fr L m + m ema ( R m + K i K f ) ] F 1 = S t [ η ema k ema 2 R ( C T C E + B fm R m + K i K f B fm ) + B fr ( R m
Key features of the Qt ema that are enabled through these drivers include:
- QT EMA – Apps on Google Play
- QT EMA for Android - CNET Download
- QT EMA en App Store
- App Store에서 제공하는 QT EMA
- QT EMA APP : r/QuikTrip - Reddit
- QT EMA APK for Android Download - APKPure.com
- QT EMA LOGIN : r/QuikTrip - Reddit
+ K i K f ) ] G 3 = L m m ema + m el L m + J m L m η ema k ema 2 R G 2 = η ema k ema 2 R ( J m R m + J m K i K f + B fm L m ) + B fr L m + ( m ema + m el ) ( R m + K i K f ) G 1 = η ema k ema 2 R ( C T C E + B fm R m + K i K f B fm ) + B fr ( R m + K i K f ) + S t L m G 0 = S t ( R m + K i K f ) By dividing both the numerator and the denominator on the right side of Equation (11) by the coefficient of u, we obtain: F ema = u − ( F 3 s 3 + F 2 s 2 + F 1 s ) x a ( s 2 m el + S t ) R k ema η ema K i K v C T [ ( s 2 m el + S t ) R k ema η ema K i K v C T ] ( G 3 s 3 + G 2 s 2 + G 1 s + G 0 ) (12) It can be seen from Figure 13 that to suppress the disturbance force, the feedforward correction element should be used to counteract the part following u in the numerator of Equation (12): G T = F 3 s 3 + F 2 s 2 + F 1 s ( s 2 m el + S t ) R k ema η ema K i K v C T (13) The simulation model of the DEMA force servo system introduced with a PID controller and a feedforward correction element is shown in Figure 14 [48,49,50].As shown in Figure 14, we added several modules in the model to simulate the sampling and data processing of the processor, making the simulation model more realistic. In order to make the simulation model easier to understand and operate, we use PMSM and planetary-roller screw pairs as super components, and integrate feedforward and its sampling and data processing into the super components.The disturbance of
