铆接机器人位置和压铆力自适应模糊滑模阻抗控制  

Adaptive fuzzy sliding mode impedance control for position and riveting force of riveting robot

作　　者：焦建军[1,2] 李宗刚[1,2] 康会峰[3] 陈引娟[1,2] JIAO Jianjun;LI Zonggang;KANG Huifeng;CHEN Yinjuan(College of Mechanical and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China;Hebei Provincial Key Lab of Cross Air Water Medium Aircraft,North China Institute of Aerospace Engineering,Langfang 065000,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]兰州交通大学机器人研究所,兰州730070 [3]北华航天工业学院河北省跨气水介质飞行器重点实验室,河北廊坊065000

出　　处：《振动与冲击》2024年第17期300-312,共13页Journal of Vibration and Shock

基　　金：国家自然科学基金资助项目(61663020);甘肃省教育厅项目(2022CYZ-33);国家重点实验室开放基金项目(GZ219);兰州交通大学军民融合创新团队培育基金(JMTD202211)。

摘　　要：针对机器人铆接小尺寸、低刚度铆钉过程中对准精度要求高、作业行程小和冲击力大等问题,提出了一种结合自适应模糊滑模控制和模糊阻抗控制的机器人铆接控制方法。为此,将机器人铆接控制过程分为接近对准与压铆两个阶段。其中,为了实现快速接近铆钉顶部以及铆接头与铆钉轴线的精确对准,设计了以双曲正切函数为切换函数的模糊自适应滑模控制器,使得切换过程更加光滑、滑模增益自适应调节,从而降低了系统的抖振,实现了运动的快速性和准确性;针对压铆阶段作业行程小、冲击力大的特点,设计了以接触力误差和力增量为输入的阻尼调整模糊控制器,减少了阻尼参数在阻抗控制过程中产生的振荡,避免了过度力加载导致的铆钉损坏或铆接失败。仿真及试验结果表明,所给出的控制方法位置精度在0.3 mm以内,力接触具有更好的稳定性、实时性和快速性,能够满足铆接工艺规范要求,对于铆接机器人的高精度作业具有借鉴意义。Here,aiming at problems of high alignment accuracy,small operation stroke and large impact force in process of robot riveting with small-sized and low stiffness rivets,a robot riveting control method combining adaptive fuzzy sliding mode control and fuzzy impedance control was proposed.The robot riveting control process was divided into 2 stages of close alignment and pressing riveting.To realize rapid approach to rivet top and precise alignment between rivet joint and rivet axis,a fuzzy adaptive sliding mode controller with hyperbolic tangent function taken as switching function was designed to make the switching process smoother and sliding mode gain adaptively adjustable,thereby reduce system chattering and realize fast and accurate motion.Aiming at characteristics of small operation stroke and large impact force during pressing riveting stage,a damping adjustment fuzzy controller with contact force error and force increment taken as inputs was designed to reduce oscillation of damping parameters in impedance control process,and avoid rivet damage or riveting failure caused by excessive force loading.The simulation and test results showed that the position accuracy of the proposed control method is within 0.3mm,and its force contact has better stability,real-time performance and fastness;the proposed control method can meet requirements of riveting process specifications,and have reference significance for high-precision operation of riveting robots.

关 键 词：铆接机器人 轨迹跟踪 滑模控制 模糊控制 阻抗控制 位置与力控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程] TG938[金属学及工艺—钳工工艺]