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中文摘要：
位移与压力之间的稳定快速切换直接影响自动化设备的运动速度与定位精度。针对传统直接力/位切换的不足，提出了一种基于速度阻尼思想的位移与压力切换控制方法。该方法通过改变速度环的参数来改变阻尼参数，实现了位置/压力控制的平稳切换。更重要的是，压力加载过程中，该控制具有明显的振动抑制作用。试验结果表明，与直接力/位切换方法相比，采用速度阻尼方法的控制系统更精确与快速，压力加载阶段力的波动接近±0.3 N。
英文摘要：
Stable and fast switching between displacement and pressure will directly affect preci-sion and velocity of automated equipment .To solve the shortage of direct switching between displace-ment and pressure ,switching control between displacement and pressure was proposed for motion switching of automated equipment ,which was based on the velocity damping .The damping was changed with the parameters of velocity ring .So this control can realize stable switching between dis-placement and pressure .This control can suppress vibration in the process of pressure loading .Com-pared to direct switching control ,the proposed switching control becomes more accurate and faster . The measurement data shows that the amplitude of forces of fluctuations are within the range of ±0.3 N .
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