基于模糊PID的力/位混合控制机器人自动化叶片磨削加工  

Hybrid Force/Position Control Method for Robot Automatic Grinding Blades Based on Fuzzy PID

作　　者：张洪瑶[1,2,3] 李论 赵吉宾[1,2] 赵敬川 田凤杰[4] ZHANG Hong-yao;LI Lun;ZHAO Ji-bin;ZHAO Jing-chuan;TIAN Feng-jie(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;不详)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110016 [3]中国科学院大学,北京100049 [4]沈阳理工大学机械工程学院,沈阳110159

出　　处：《组合机床与自动化加工技术》2021年第11期147-150,155,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点研发计划(2016YFB1100502);国家自然科学基金(51775542);国家自然科学基金(U1908230)。

摘　　要：针对机器人自动化航空发动机叶片磨削加工质量不高的问题,提出了一种基于模糊PID的力/位混合主动力柔顺控制。基于外部固定工具坐标的重力补偿算法解决了叶片重力对接触力求解的影响,根据坐标变换,完成接触力的精确感知。将机器人、工件和砂带轮简化成弹簧-阻尼二阶系统模型,利用最小二乘参数辨识方法建立系统模型。基于模糊PID的力/位混合力控制策略根据实际接触力与参考力的差值对离线编程轨迹进行在线修正,实现恒力控制。实验表明,相对于经典PID控制,基于模糊PID力/位主动柔顺控制算法可提高系统响应性能,降低稳态误差,改善系统鲁棒性,实现机器人自动化磨削加工过程的主动力柔顺控制。The hybrid force/position active compliance control method based on fuzzy PID is proposed aiming at the problem of low grinding quality of robotic automatic polishing aero-engine blades.In order to solve the influence of blade gravity for the solution of contact force,a gravity compensation algorithm is proposed based on external fixed tool coordinate system.The contact force can be sensed by coordinate transformation.The system is simplified to a second order spring-damper system model by analysis of robot,workpiece and abrasive wheel.And the system model is established by least squares parameter identification method.Based on the proposed control strategy,the off-line programming trajectory is corrected by the deviation between contact force and reference force to achieve constant force control.The Experiments show that the force/position active compliance control algorithm based on fuzzy PID can improve system response performance,reduce steady-state error and improve robustness compared with traditional PID control to realize the active compliance force control for robot automatic grinding.

关 键 词：机器人 力/位混合控制 重力补偿 模糊PID控制 

分 类 号：TH16[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]