Resumen:
Typically disassembly forces are unknown due to high forces or high temperatures during product operation, so that assembly connections solidify. For controlling the disassembly forces a control is developed. The controller is formed for two steps: The first step is a control by a PID controller that produces a force, which overcomes a solidifying force slightly. The second step is a vibration control with a FM modulation for controlling the duration of impacts. Vibrations are useful for decreasing the force amplitude for caring the joined components. Finally, the control is validated with disturbances in a simulation.
