基于扰动转化补偿的恒力控制部件设计与控制  

Design and Control of Constant Force Control Components Based on Disturbance Conversion Compensation

作　　者：姜传星 杨志军[1] 陈新[1] 白有盾 Jiang Chuan-xing;Yang Zhi-jun;Chen Xin;Bai You-dun(State Key Laboratory for Precision Electronics Manufacturing Technology and Equipment,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学省部共建精密电子制造技术与装备国家重点实验室,广东广州510006

出　　处：《广东工业大学学报》2023年第6期52-61,共10页Journal of Guangdong University of Technology

基　　金：国家重点研发计划资助项目(2022YFB4701001);国家自然科学基金资助项目(51875108,51905107);佛山市南海区重点领域科技攻关项目(2230032004637);佛山市南海区蓝海人才计划项目(2030032000185)。

摘　　要：针对机械导轨式力控系统精度受非线性摩擦影响的问题,本文提出了一种将摩擦扰动转化为弹性扰动的设计方法,解决了摩擦死区和静摩擦力补偿难的问题。具体做法是,将力控执行机构设计成用柔性铰链组连接的框架和工作平台。当驱动力小于摩擦力时,位移由柔性铰链弹性变形产生,消除了摩擦死区。非线性摩擦扰动转化为柔性铰链弹性变形扰动,通过柔性铰链的变形量和变形速率,计算出弹性力和阻尼力进行实时补偿,解决了摩擦力补偿问题。通过实验表明,摩擦扰动转化设计,通过量测补偿,最终将力控精度提高到0.08 N,比原来提高20~50倍,是一般气浮式精度(1 N)的10倍以上,并且保持了电控系统响应快、成本低的优势。Constant force control is significant for robot griding or polishing.Due to the influence of guide rail friction,the existing high precision force control employs air bearing and pneumatic control.Aiming at the problem that the precision of mechanical guideway force control system is affected by nonlinear friction,a design method is proposed that converts friction disturbance into elastic disturbance,which solves the problems of friction dead zone and static friction compensation.Specifically,the force control actuator is designed as a frame and working platform connected by a flexible hinge group.When the driving force is less than the friction force,the displacement is completely generated by the elastic deformation of the flexure hinge,eliminating the friction dead zone.The nonlinear friction disturbance is converted into the elastic deformation disturbance of the flexure hinge.Through the deformation amount and deformation rate of the flexure hinge,the elastic force and damping force are calculated for real-time compensation,which solves the problem of friction compensation.The experiment shows that the friction disturbance conversion design reduces the influence of friction,finally improves the force control accuracy to 0.08 N through measurement and compensation,which is 20~50 N times higher than the original,more than 10 times higher than the general air flotation accuracy,and maintains the advantages of fast response and low cost of the electronic control system.

关 键 词：扰动转化 恒力控制 补偿 机构设计 

分 类 号：TH122[机械工程—机械设计及理论]