Table 1 Parameter variation range of force control simulation model
Parameter name | Initial value | Variation range |
|---|---|---|
Equivalent proportional coefficient \(k_a\) | 173.3 | 161.17–185.43185. |
Natural frequency of servo motor \(\omega_{sm} \left( {{\text{rad}}/{\text{s}}} \right)\) | 141.60 | 131.69–151.51 |
Inherent damping ratio of servo motor \(\zeta_{sm}\) | 1.99 | 1.85–2.13 |
Natural frequency of load \(\omega_{m} \left( {{\text{rad}}/{\text{s}}} \right)\) | 158 | 146.94–169.06 |
Damping ratio of load \(\zeta_{m}\) | 0.75 | 0.70–0.8 |
Ratio of stiffness to damping coefficient of series coupling of hydraulic spring and load spring \(\omega_{r} \left( {{\text{rad}}/{\text{s}}} \right)\) | 1.67 | 1.55–1.79 |
Natural frequency of hydraulic spring and load spring and mass \(\omega_{0} \left( {{\text{rad}}/{\text{s}}} \right)\) | 1246 | 1158.78–1333.22 |
Damping ratio \(\zeta_{0}\) | 0.07 | 0.065–0.075 |