期刊
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
卷 70, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2021.102133
关键词
Pneumatic polishing force control; High speed on; off; PWM signals; Moving average filter; PID control; 3-TPS hybrid robot
资金
- National Natural Science Foundation of China
- Science and Technology Planning Project of Shenyang [18006001]
This paper presents a pneumatic polishing force control system that utilizes PWM signals to control a high-speed on/off valve, incorporating a PID control algorithm in the PLC for reliable force control. Experimental results demonstrate excellent effectiveness, response speed, and stability of the system, making it suitable for various polishing processes and workpiece requirements.
In the polishing process, contact force has obvious influence on material removal rate, thus realizing stability and effectiveness of force control is a significant issue for automatic polishing. This paper designs a pneumatic polishing force control system to achieve reliability force control. The system is based on a high speed on/off valve which is controlled by Pulse-Width Modulation (PWM) signals. PWM signals are generated by a Programmable Logic Controller (PLC). Proportion-Integration-Differentiation (PID) control algorithm with moving average filter is conducted in the PLC, thus dynamic property of the system has been improved. The pneumatic system is assembled on a 3-TPS hybrid robot with 5 degrees of freedom (DOF) movement to equip a polishing experimental platform. Polishing force control experiments are conducted on the experimental platform to research the performances and characteristics of the pneumatic polishing force system. According to the experimental results, the pneumatic system presents excellent effectiveness and response speed to track a certain desired polishing force value with small force tracking error. Percentage of absolute average errors are descending as the desired force values is increasing, and settling time is small enough for the polishing manufacture. Therefore, based on the high speed on/off valve, the pneumatic polishing force system proposed in this paper can be conducted in various polishing processes and satisfy special requirements of different workpieces. The polishing force control system can be adjusted to work at an adaptive status due to the excellent effectiveness, stabilization and response speed of force tracking.
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