金属板材纯弯曲试验闭链夹持的力控制研究  

Study on Force Control of Closed Chain Clamping in Pure Bending Experiment of Sheet Metal

作　　者：韩飞 李妍 HAN Fei;LI Yan(School of Mechanical and Material Engineering,North China University of Technology,Beijing 100144)

机构地区：[1]北方工业大学机械与材料工程学院,北京100144

出　　处：《机械工程学报》2025年第2期130-140,共11页Journal of Mechanical Engineering

基　　金：北京市自然科学基金-市教委联合(KZ201910009011);北京市属高校高水平教师队伍建设长城学者培养计划(TCD20190306);北京市教委基本科研业务费(110052972027/024);北方工业大学毓杰团队支持计划(107051360021XN083/001);国家自然科学基金(51074204)资助项目。

摘　　要：金属板材纯弯矩加载时,板材夹持末端的加载轨迹存在无法确定的问题。依托于本实验室自主研发的板材弯曲设备,从位移加载的角度出发,以阻抗控制理论为基础提出一种当金属板材变形时内力的跟踪方法,以实现板材仅受纯弯矩的理想纯弯曲受力状态。首先,分析试验机机构的运动学关系和板材受力加载过程中的闭链混合体动力学模型,经过板材内力的优化解耦,得到所需控制内力。其次,考虑到加载试件弹塑性变形时的振动,设计了基于动力学模型的模糊自适应导纳控制器以动态跟踪试件变形内力。在线力控试验中,相比于MRAC自适应力控制法,模糊变导纳控制方法的力误差波动范围缩小了52.5%,离线轨迹加载试验中,在MRAC力控法和模糊导纳力控法下,力控值范围分别缩小了94%和93.3%。试验表明,通过控制板材夹持末端的运行轨迹来实现板材内力的过程控制方法有效,并得出了薄板镀锌铁试件的纯弯曲加载轨迹。The loading trajectory of the clamping end of sheet metal is uncertain when the pure bending moment is loaded.Based on the sheet bending testing equipment designed in the laboratory,from the point of displacement loading,based on impedance control theory,a method of tracking the internal force when the sheet metal deformation,in order to achieve the ideal pure bending force state of sheet metal only by pure bending moment.Firstly,analysis of the kinematic relationship of the testing machine mechanism and the closed-loop hybrid dynamics model of the sheet metal under force loading.After the internal forces of the plate are optimized and decoupling,the required control internal forces were obtained.Secondly,considering the vibration when loading the specimen under elastoplastic deformation,a fuzzy adaptive admittance controller based on dynamic model is designed to dynamically track the deformation internal force of the specimen.In the online force control experiment,compared with the MRAC adaptive force control method,the force error fluctuation range of the fuzzy variable admittance control method is reduced by 52.5%.Under the MRAC force control method and the fuzzy admittance force control method,the force control value range is reduced by 94%and 93.3%,respectively.The experiments demonstrate that the process control method,achieved by controlling the trajectory of the sheet metal clamping end,is effective in controlling the internal forces of the sheet metal.Moreover,a pure bending loading trajectory for thin galvanized iron test specimens has been obtained.

关 键 词：纯弯曲试验 闭链混合体 内力跟踪 导纳控制 

分 类 号：TG156[金属学及工艺—热处理]