Linear Motion Profile Generation using a （线性运动剖面生成使用）.pdf

Linear Motion Profile Generation using a Danaher Thomson Actuator with Ball Screw Drive Dan DUMITRIU Institute of Solid Mechanics of the Romanian Academy, Str. Constantin Mille, nr. 15, 010141 Bucharest, Romania, dumitri04@, dumitriu@.ro Daniel Ctlin BALDOVIN Institute of Solid Mechanics of the Romanian Academy, Str. Constantin Mille, nr. 15, 010141 Bucharest, Romania, danootzu@ Emil Matei VIDEA Institute of Solid Mechanics of the Romanian Academy, Str. Constantin Mille, nr. 15, 010141 Bucharest, Romania, videaemil@ Abstract: - A Danaher Thomson linear actuator with ball screw drive is used here to generate vibrations in the 1-3 Hz frequency range. More precisely, the linear motion profile corresponding to the vertical displacements induced under the driver seat by the car ride on some real random road profile was successfully generated using this Danaher Thomson actuator. Also was generated a simplified linear motion profile corresponding to the sum of three sinusoids: a first sinusoidal vibration with A 1=2cm amplitude andf =1 Hz frequency, a second sinusoid with A =1.5cm amplitude and f =1.5 Hz frequency 1 2 2 and a third sinusoid with A3 =1cm amplitude and f 3 =2 Hz. The actuator is commanded in position (“position mode”), but also in acceleration; for each elementary motion from one position to another, the user provides the limitations in velocity and acceleration/deceleration. The paper presents a simple method to automatically compute the uniform acceleration, maximum velocity and uniform deceleration