非圆截面元件机器人抛光力模糊自适应PI控制  

Fuzzy Adaptive PI Control of Robot Polishing Force for Non-circular Section Components

作　　者：黄海滨 许路 陈璞 邹朝圣 HUANG Haibin;XU Lu;CHEN Pu;ZOU Chaosheng(School of Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen Fujian 361024,China;Xiamen Wanjiu Technology Co.,Ltd.,Xiamen Fujian 361025,China)

机构地区：[1]厦门理工学院机械与汽车工程学院,福建厦门361024 [2]厦门万久科技股份有限公司,福建厦门361025

出　　处：《机床与液压》2023年第5期61-65,共5页Machine Tool & Hydraulics

基　　金：2022年福建省自然科学基金项目(2022J011244);2018年福建省科技计划项目中高校产学合作项目(2018H6025)。

摘　　要：针对非圆截面元件表面机器人抛光过程中末端力的柔顺控制问题,设计一套双机器人协同抛光系统,分析双机器人协同抛光运动过程,并以Preston方程为理论依据。建立布轮抛光工具端与工件之间接触阻抗模型,分析接触力误差与阻抗模型参数之间的关系;提出自适应调整阻尼参数实现布轮抛光工具与工件的柔顺接触;引入模糊控制理论和PI控制理论对比例、积分和阻尼参数实时调整。仿真以及实验结果表明:模糊自适应PI控制相比于自适应阻抗控制及定阻抗控制具有低超调、响应迅速以及快速稳定等特点,同时能够跟随动态期望力。Aiming at the problem of the compliance control of the robot end force in the robot polishing of non-circular section components surface,a dual-robot collaborative polishing system was designed to analyze the motion process of dual-robot collaborative polishing,and the Preston equation was used as the theoretical basis.The contact impedance model between the cloth wheel polishing tool end and the workpiece was established,and the relationship between the contact force error and the impedance model parameters was analyzed.Adaptive adjustment of the damping parameters was proposed to realize the soft contact between the cloth wheel polishing tool and the workpiece.Fuzzy control theory and PI control theory were introduced to adjust the proportional,integral and damping parameters in real time.The simulation and experimental results show that the fuzzy adaptive PI control has the characteristics of low overshoot,rapid response,and rapid stability compared with adaptive impedance control and constant impedance control,and it can also follow dynamic expectation force.

关 键 词：非圆截面元件 阻抗模型 自适应阻抗控制 模糊控制 PI控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]