期刊
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
卷 107, 期 3-4, 页码 1741-1754出版社
SPRINGER LONDON LTD
DOI: 10.1007/s00170-020-05061-y
关键词
Gravity compensation; Automation grinding; Fuzzy PID; Hybrid force; position control; Aviation blade
资金
- National Natural Science Foundation of China [51775542]
- National Key Research and Development Program of China [2016YFB1100502]
The hybrid force/position control base on fuzzy proportional-integral-derivative (PID) is proposed to improve the quality of robotic automatic grinding aviation blades. First, the perception for the contact force/torque is discussed. A multi-source parameters gravity compensation matrix is established to identify the parameters through matrix reorganization. The contact force/torque is perceived according to the gravity compensation result. Then, the hybrid force/position control base on fuzzy PID is designed to realize active force control. Nevertheless, the sharp edge phenomenon occurs although the force control algorithm, which seriously affects the grinding quality of blades. Finally, the fusion control of force and torque is proposed to weaken the sharp edge phenomenon. The experiment proves that the introduction of torque control avoids effectively the sharp edge phenomenon. Meanwhile, comparing the proposed control algorithm with the traditional PID control, the results show that the proposed hybrid force/position control based on fuzzy PID can ensure the stability of the contact force and improve the quality of the aviation blades.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据