基于MRAC+PID算法的机器人打磨力跟踪控制研究  

Research on robot grinding force tracking control based on MRAC+PID algorithm

作　　者：胡凤宝 戴士杰[1,2] 季文彬 刘淑媛 HU Fengbao;DAI Shijie;JI Wenbin;LIU Shuyuan(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;Hebei Key Laboratory of Robot Perception and Human Machine Fusion,Hebei University of Technology,Tianjin 300401,China;China Institute of Atomic Energy,Beijing 102413,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]河北工业大学机器人感知与人机融合河北省重点实验室,天津300401 [3]中国原子能科学研究院,北京102413

出　　处：《现代制造工程》2024年第4期57-65,79,共10页Modern Manufacturing Engineering

基　　金：国家重点研发计划项目(2019YFB1311104);河北省产品研发专项项目(SJMYF2022Y05)。

摘　　要：针对铝合金轮毂打磨过程中末端执行器气动系统建模不准确以及外部环境干扰导致打磨过程中打磨力稳定性差的问题,提出了一种MRAC+PID混合控制策略来实现对打磨力的跟踪控制。首先对末端执行器进行建模和分析;然后采用MRAC+PID控制策略对末端执行器进行控制,其中通过构造李雅普诺夫函数来设计自适应控制律;最后通过仿真和实验验证了所提方法的有效性。结果表明,MRAC+PID在提高系统的响应速度和抗干扰方面具有良好的控制性能,能够快速准确地跟踪期望打磨力,提高铝合金轮毂的表面打磨质量。To solve the problems of inaccurate modeling of the end-effector pneumatic system and poor stability of grinding force caused by external environment interference during grinding of aluminium alloy wheel hub,a hybrid control strategy of MRAC+PID was proposed to achieve tracking control of grinding force.Firstly,the end-effector was modeled and analyzed.Then,the MRAC+PID control strategy was used to control the end-effector,in which the adaptive control law was designed by constructing the Lyapunov function.Finally,the effectiveness of the proposed method was verified by simulation and experiment.The results show that MRAC+PID has good control performance in improving the response speed and anti-interference of the system,which can track the desired grinding force quickly and accurately and improve the surface grinding quality of aluminum alloy wheel hub.

关 键 词：机器人打磨 铝合金轮毂 MRAC+PID控制 打磨力控制 

分 类 号：TH16[机械工程—机械制造及自动化]