An Automatic Screw Tightening Shaft Based on Enhanced Variable Gain PID Control
نویسندگان
چکیده
In this paper, a modular designed automatic screw tightening shaft system, which is based on enhanced variable gain PID control, is proposed. Designed for the autonomous screw tightening operation, the screw tightening shaft enjoys huge potential for industry application. The screw tightening shaft and the screw tightening process are both mathematically modeled as an uncertain feedback system because of the uncertain properties. And the control performance is verified by choosing proper controller parameters that the closed loop system is stable on the basis of the Routh stability criterion whereas the torque tracking error exponentially converges to a small residue. Furthermore, it can be seen from the simulation and experiment results on the screw tightening shaft system that the proposed autonomous system is valid and effective. KeywordsModular design; automatic screw tightening shaft (ASTS); pre-tightening force; PID control; variable gain
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