基于模糊PID的汽车门框打磨机器人主动柔顺控制系统设计  

Design of fuzzy PID based active compliance control system for car door frame grinding robot

作　　者：陈威[1] 陈新度[1] CHEN Wei;CHEN Xindu(School of Mechanical and Electrical Engineering,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《现代电子技术》2021年第10期171-175,共5页Modern Electronics Technique

基　　金：广东省省级科技计划项目(2017B030302004);广州市科技计划项目(201902010054)。

摘　　要：由于在利用原有系统进行汽车门框打磨机器人主动柔顺控制时,机器人负载为60%~90%的情况下存在重复定位精度较低的问题,因此设计一款基于模糊PID的汽车门框打磨机器人主动柔顺控制系统。系统的硬件构成包括控制器模块、外部设备模块以及机器人执行机构模块。其中,控制器模块由控制器与操作台触摸屏构成;外部设备模块由工件夹爪与打磨工具构成;机器人执行机构模块由机器人执行机构、六轴力传感器与I/O硬线构成。系统的软件构成包括编程模块、主动柔顺控制模块。其中,编程模块中包含三种用户程序,分别为中断程序、可调用子程序、主程序;主动柔顺控制模块由模糊PID控制器构成。通过硬件与软件相结合实现了汽车门框打磨机器人的主动柔顺控制。通过对比实验证明该系统的重复定位精度高于原有系统,实现了定位性能的提升。when the original system is used for the active compliance control of the car door frame grinding robot,and the robot load is 60%~90%,there is a problem of low repeated positioning accuracy.Therefore,a fuzzy PID based active compliance control system of the car door frame grinding robot is designed.The hardware structure of the system includes controller module,external device module and robot actuator module.The controller module is composed of the controller and the touch screen of the operating platform.The external device module is composed of the workpiece clamping claw and grinding tools.The robot actuator module is composed of the robot actuator,six axis force sensor and I/O hard wire.The software of the system consists of programming module and active compliance control module.In the programming module,there are three kinds of user programs.They are interrupt program,callable subroutine and main program.The active compliance control module is composed of fuzzy PID controller.The active compliance control of the car door frame grinding robot is realized in combination with hardware and software.The contrast experimental results indicate that the repeated positioning accuracy of the system is higher than that of the original system,which improves the system′s positioning performance.

关 键 词：控制系统 汽车门框打磨 机器人 模糊PID 系统设计 对比实验 

分 类 号：TN876-34[电子电信—信息与通信工程] TP242.2[自动化与计算机技术—检测技术与自动化装置]