基于MRAC的制孔末端执行器压脚力的控制研究  

Research on the Control of Presser Foot Force of Hole Making End Effector based on MRAC

作　　者：王俊芳 李岸 WANG Junfang;LI An(School of Mechanical Engineering Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《河南科技》2022年第6期53-56,共4页Henan Science and Technology

摘　　要：由于在飞机座舱盖制孔锪窝过程中,制孔末端执行器的压脚力的稳定性对于制孔锪窝的质量有着直接的影响。采用现阶段比较成熟的模型参考自适应控制方法提高制孔末端执行器压脚力的稳定性,以及飞机座舱盖制孔末端执行器制孔锪窝的精度和质量,使飞机座舱盖制孔工艺过程实现符合工艺参数要求的自动化加工。现提出一种基于状态变量的Lyapunov-MRAC控制方法提升制孔末端执行器压脚力控制的稳定性。仿真结果表明,该方法对于制孔末端执行器压脚力稳定性的控制有较好的效果,对于提升飞机座舱盖制孔自动化加工的质量有实际意义。Because in the process of hole-spotting of the aircraft canopy,the stability of the presser foot force of the hole-making end effector has a direct impact on the quality of the hole-spotting.Therefore,the more mature model reference adaptive control method is adopted at this stage to improve the stability of the presser foot force of the hole-making end effector,improve the precision and quality of the holesinking hole of the aircraft canopy hole-making end-effector,and make the aircraft canopy hole-making process better.The process realizes automatic processing that meets the requirements of process parameters.A Lyapunov-MRAC control method based on state variables is proposed to improve the stability of the presser foot force control of the hole-making end effector.The simulation results show that this method has a good effect on the stability control of the presser foot force of the hole-making end effector,and has practical significance for improving the quality of the automatic machining of the hole-making of the aircraft canopy.

关 键 词：制孔末端执行器 压脚力 模型参考自适应控制 稳定性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]