研磨
反推
PID控制器
控制理论(社会学)
计算机科学
执行机构
控制工程
工程类
机器人末端执行器
自适应控制
机械工程
机器人
控制(管理)
人工智能
温度控制
作者
Shijie Dai,Shining Li,Wenbin Ji,Zhenlin Sun,Yufeng Zhao
出处
期刊:Industrial Robot-an International Journal
[Emerald (MCB UP)]
日期:2021-02-12
卷期号:49 (1): 34-46
被引量:14
标识
DOI:10.1108/ir-10-2020-0229
摘要
Purpose This study aims to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A force control strategy of backstepping + proportion integration differentiation (PID) is proposed. The grinding end effector is installed on the flange of the robot. The robot controls the position and posture of the grinding end actuator and the grinding end actuator controls the grinding force output. First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. Finally, the feasibility of the proposed method is verified by simulation and experiment. Findings The simulation and experimental results show that the backstepping + PID strategy can track the expected force quickly, and improve the dynamic response performance of the system and the quality of grinding and polishing of automobile wheel hub. Research limitations/implications The mathematical model is based on the pneumatic system and ideal gas, and ignores the influence of friction in the working process of the cylinder, so the mathematical model proposed in this study has certain limitations. A new control strategy is proposed, which is not only used to control the grinding force of automobile wheels, but also promotes the development of industrial control. Social implications The automatic constant force grinding of automobile wheel hub is realized, and the manpower is liberated. Originality/value First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. The nonlinear model of the system is controlled by backstepping method, and in the process, the linear system composed of errors is obtained, and then the linear system is controlled by PID to realize the combination of backstepping and PID control.
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