Dynamic control for the feed system of a robotic drilling end-effector  

作　　者：Zhang Laixi Zhao Chenming Wu Mingliang 张来喜;Zhao Chenming;Wu Mingliang(School of Mechanical and Electronical Engineering,Lanzhou University of Technology,Lanzhou 730050,P.R.China)

机构地区：[1]School of Mechanical and Electronical Engineering,Lanzhou University of Technology,Lanzhou 730050,P.R.China

出　　处：《High Technology Letters》2021年第4期408-414,共7页高技术通讯（英文版）

基　　金：the National Natural Science Foundation of China(No.51765031);Natural Science Foundation of Gansu Province(No.20JR5RA457).

摘　　要：Robotic drilling technology for aircraft flexible assembly is challenging and is under active investigation.In this work,a feed system for robotic drilling end-effector is modeled.Two control algorithms with different computational complexity are proposed and compared.Based on reduced-order state observer,a pole placement controller is proposed firstly,and then a model reference adaptive controller is designed.An experiment platform is established in Matlab xPC environment to validate the effect of the two controllers.The experiment results show that the model reference adaptive controller delivers a higher tracking accuracy after the adaptive transient procedure than the pole placement controller does.

关 键 词：robotic drilling feeding system POLE-PLACEMENT model reference adaptive 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程] V262.4[航空宇航科学与技术—航空宇航制造工程]