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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

+ 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

Equations (4) and (5), a transfer function with xema as the output and TL and Fema as inputs can be obtained as follows: x ema = η ema k ema T L R − F ema s ( s m ema + B fr ) (6) The model is not specific to the roller-screw type, but is instead general. Equations (5) and (6) are written in the case of an opposite load, and for simplification the case of an aiding load is not considered, although the EMA works in both cases.The open-loop system model block diagram of the planetary-roller screw pair is shown in Figure 3. 3.3. Force SensorSince the force sensor has very small inertia and operates within the range of elastic deformation, the force analysis equation of the force sensor can be obtained as follows: F ema = K s ( x ema − x fs ) (7) Thus, the open-loop system model block diagram of the force sensor is shown in Figure 4. 3.4. Load Connection PointIn order to make the model more perfect, the inertial load is selected in the mathematical model; the mass of the inertial load is 0.001 kg, which is equivalent to no load.Considering the connection stiffness between the LEMA and the load connection point, the force analysis equation at the load connection point can be obtained as follows: F ema = m el x ¨ ema + S t ( x ema − x a ) (8) Thus, the open-loop system model block diagram at the load connection point is shown in Figure 5. 4. Anti-Disturbance Control Strategy for the Force Servo System 4.1. Establishment of an Open-Loop Model of the Force Servo SystemBased on the model block diagrams of each core component, an open-loop model block diagram of the force servo system with the input command u and the external position disturbance xa as inputs and Fema as the output can be obtained, as depicted in Figure 6. Its open-loop transfer function is expressed as follows: F ema = R k ema η ema K i K v C T u − s F ab ( F ema K s + F ema + S t x a s 2 m el + S t ) s L m + R m + K i K f (9) where Fab can be obtained as follows: F ab = { R k

Line. When it is used as an oscillator, an extreme positive value indicates an overbought market while an extreme negative value indicates an oversold market. When TRIX is used as a momentum indicator, a positive value suggests momentum is increasing, while a negative value suggests momentum is decreasing. Many analysts believe that when the TRIX crosses above the zero line, it gives a buy signal, and when it closes below the zero line, it gives a sell signal. Also, any divergence between price and TRIX can indicate significant turning points in the market. Calculating TRIX First, the exponential moving average of a price is derived from the expression: EMA1(i)=EMA(Price,N,1)where:Price(i)= Current priceEMA1(i)= The current value of the Exponential Moving Average\begin{aligned} &EMA1(i)=EMA(\text{Price}, N, 1)\\ &\textbf{where:}\\ &\text{Price}(i)=\text{ Current price}\\ &\begin{aligned} EMA1(i)=&\text{ The current value of the Exponential}\\ &\text{ Moving Average}\end{aligned} \end{aligned}​EMA1(i)=EMA(Price,N,1)where:Price(i)= Current priceEMA1(i)=​ The current value of the Exponential Moving Average​​ Next, the second smoothing of the obtained average is executed—double exponential smoothing: EMA2(i)=EMA(EMA1,N,i)EMA2(i)=EMA(EMA1,N,i)EMA2(i)=EMA(EMA1,N,i) The double exponential moving average is smoothed exponentially one more time—hence, the triple exponential average: EMA3(i)=EMA(EMA2,N,i)EMA3(i)=EMA(EMA2,N,i)EMA3(i)=EMA(EMA2,N,i) Now the indicator itself is found with: TRIX(i)=EMA3(i)−EMA3(i−1)EMA3(i−1)TRIX(i)=\frac{EMA3(i)-EMA3(i-1)}{EMA3(i-1)}TRIX(i)=EMA3(i−1)EMA3(i)−EMA3(i−1)​

Introduced with a composite controller (consisting of a PID controller and a feedforward correction element) were almost unaffected by the external position disturbance. Nevertheless, the tracking accuracy of the DEMA system decreased as the frequency of the command signal increased. 5. Anti-Disturbance Control Strategy for Position Servo System 5.1. Establishment of an Open-Loop Model of the Position Servo SystemSince no force sensor is needed at the end of the position servo system, based on the model block diagrams of each core component, an open-loop model block diagram of the position servo system with u and the external disturbance force Fema as inputs and xema as the output can be obtained, as depicted in Figure 19. Its open-loop transfer function is expressed as follows: x ema = R k ema η ema K i K v C T u − ( s L m + R m + K i K f ) F ema s ( s m ema + B fr ) ( s L m + R m + K i K f ) + s R k ema 2 η ema ( K i K v C T C E + B fm + s J m ) (14) 5.2. Design of the Position Servo System ControllerIn this study, an EXLAR FT35-1805 GEMA with a faster motion velocity was chosen to describe and analyze the control strategy and performance of the EMA position servo system. The FT35-1805 model boasts a rated output force of 17.8 kN, a maximum speed of 373 mm/s, a maximum stroke of 457 mm, and a screw lead of 5 mm. Detailed parameters of this EMA can be found on EXLAR’s official website and are thus not elaborated herein [47].Like the force servo system, the introduction of speed feedback can also increase the damping ratio of the EMA position servo system, thereby enhancing its stability. Additionally, the introduction of a PID controller can further improve the system’s tracking accuracy and rapidity. A simulation model of the GEMA position servo system was built in Amesim based on the mathematical model, as shown in Figure 20, so as to verify the performance and control strategy of the GEMA.The disturbance of the position servo system can be divided into static force disturbance and dynamic force disturbance.In this section, the PID parameters selected for the speed loop are 30 rpm/m, 1 rpm/(m·s), and 3 (rpm·s)/m, while the

Using Intel.com Search You can easily search the entire Intel.com site in several ways. Brand Name : Core i9 Document Number : 123456 Code Name : Emerald Rapids Special Operators : “Ice Lake”, Ice AND Lake, Ice OR Lake, Ice* Quick Links You can also try the quick links below to see results for most popular searches. Product Information Support Drivers & Software Sign In to access restricted content Product Support Software Manageability Products Intel® Endpoint Management Assistant (Intel® EMA) Quick Start Guide Content Type: Install & Setup | Article ID: 000055627 | Last Reviewed: 08/27/2024 Intel® EMA Quick Start Guide outlines the necessary steps for you to install the Intel® Endpoint Management Assistant (Intel® EMA) and helps with some basic configuration to start using the system. This document is intended for use in a tutorial, trial, or proof of concept activity. It doesn't necessarily reflect all the settings and configurations required to implement Intel® EMA in a real-world production environment.See the Intel® EMA Server Installation and Maintenance Guide and the Intel® EMA Administration and Usage Guide for complete instructions for: Installation Setup Configuration, including recommended security settingsSize: (2.40 MB)Date: August 2024Note: PDF files require Adobe Acrobat Reader*. Related Products This article applies to 3 products.