基于模糊线性自抗扰的薄壁件机器人铣削切深控制  

Depth of Cut Control for Thin-walled Parts in Robotic Milling Based on FLADRC

作　　者：石龙 周鹤翔 李洲龙 SHI Long;ZHOU Hexiang;LI Zhoulong(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai,200240)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《中国机械工程》2025年第4期671-680,共10页China Mechanical Engineering

基　　金：国家自然科学基金(U22A20202,52275451)。

摘　　要：弱刚性的大型薄壁零件在机器人减薄加工过程中会出现较大的变形和振动,使得工件表面加工质量下降,剩余壁厚精度难以保证。为此,采用音圈电机驱动的随动支撑头进行振动和变形抑制,并提出了基于模糊线性自抗扰控制(FLADRC)的薄壁件机器人铣削切深控制策略。为验证该控制策略的有效性,首先采用MATLAB/Simulink仿真实验平台建立系统控制模型并进行了仿真分析,然后在薄壁件机器人铣削实验平台上进行了实验验证。仿真和实验结果均表明,基于随动支撑头的切深控制策略能够显著抑制薄壁件加工过程中的振动和变形,并有效保证剩余壁厚的精度。此外,相较于传统的模糊PID(FPID)控制,模糊线性自抗扰控制器具有更好的控制效果,在外部干扰的情况下表现出更好的鲁棒性。Weakly rigid large thin-walled parts had large deformations and vibrations during robotic thinning machining,which led to a degradation of the surface quality of the workpieces and difficulties in ensuring the accuracy of the remaining wall thickness.To this end,a VCM-driven follower support head was used for vibration and deformation suppression,and a FLADRC based control strategy was proposed for depth of cut of robotic milling thin-walled parts.In order to verify the effectiveness of the control strategy,the system control models were firstly established based on the MATLAB/Simulink simulation and experimental platform,and the simulation analysis was carried out,then experimental verification was carried out on the thin-walled parts robotic milling experiment platform.Both of the simulation and experimental results show that the depth-of-cut control strategy based on the follower support head may significantly suppress the vibrations and deformations during the machining processes of thin-walled parts and effectively ensure the accuracy of the remaining wall thickness.In addition,compared with the traditional fuzzy PID control,the FLADRC has a better control effectiveness and exhibits higher robustness in the presence of external disturbances.

关 键 词：薄壁件 机器人铣削 切深控制 模糊线性自抗扰控制 音圈电机 随动支撑头 

分 类 号：TG54[金属学及工艺—金属切削加工及机床] TP242.2[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]