机器人磨抛的主动柔顺控制技术研究
发布时间：2018-08-27 12:14
【摘要】：随着智能制造的发展,机器人在磨抛中应用也越来越多。在机器人磨抛过程中,稳定控制磨抛力提高对磨抛质量具有重要意义。因此,本文针对机器人磨抛力的控制算法进行研究。(1)通过分析磨抛过程中工件的受力情况,得出控制磨抛时法向力为恒力来控制磨抛质量。结合两种主动柔顺控制算法的优缺点,最终提出力位混合控制算法来控制机器人磨抛力。(2)针对机器人磨抛过程中外力干扰和曲面磨抛,分别提出变参数PID控制法和基于矢量法力位混合控制算法。依据PID控制器的参数变化模型,建立控制参数随工况变化的PID控制器,提高机器人在磨抛过程控制磨抛力抗外力干扰的能力。通过分析曲面模型和曲面跟踪控制原理,提出了基于矢量法的力位混合控制算法,实现机器人多维力控制和曲面跟踪。(3)在MATLAB和Adams仿真环境中对力位混合控制算法进行仿真验证。通过在MATLAB中验证变参数PID控制算法,表明外力干扰时末端力在0.8s内稳定下来;而验证基于矢量法控制算法时,多维力在1s内稳定下来。在MATLAB和Adams联合仿真实验中,末端力在0.8s内稳定并具有曲面跟踪的效果,验证了提出的两种控制算法。(4)设计力位混合控制算法的验证实验,验证了变参数PID比常规PID稳定速率提高70%,而机器人在多维力在外力干扰时,可以一直保持稳定状态。分析实验曲线变化,证明提出的控制算法达到预期的控制效果。
[Abstract]:With the development of intelligent manufacturing, robots are used more and more in grinding and polishing. In the process of robot polishing, it is very important to control the grinding force and improve the polishing quality. Therefore, the control algorithm of robot grinding force is studied in this paper. (1) by analyzing the force of workpiece in the grinding process, it is concluded that the normal force of grinding time is constant force to control the polishing quality. Combined with the advantages and disadvantages of two active compliance control algorithms, a hybrid force position control algorithm is proposed to control the robot grinding force. (2) aiming at the external force interference and surface polishing in the process of robot grinding and polishing, The variable parameter PID control method and the vector normal potential hybrid control algorithm are proposed respectively. According to the parameter variation model of PID controller, a PID controller with variable control parameters is established to improve the ability of robot to control grinding force and resist external force interference during grinding and polishing process. By analyzing the surface model and the principle of surface tracking control, a hybrid force control algorithm based on vector method is proposed to realize multi-dimensional force control and surface tracking of robot. (3) the hybrid force position control algorithm is simulated in MATLAB and Adams simulation environment. By verifying the variable parameter PID control algorithm in MATLAB, it is shown that the terminal force stabilizes in 0.8 s when the external force interferes, while the multidimensional force stabilizes within 1 s when the vector control algorithm is used. In the joint simulation experiment of MATLAB and Adams, the end force is stable in 0.8s and has the effect of surface tracking. The two control algorithms are verified. (4) the verification experiment of the hybrid control algorithm is designed. It is verified that the variable parameter PID is 70% higher than that of the conventional PID, while the robot can maintain a stable state when the multi-dimensional force is disturbed by the external force. By analyzing the change of experimental curve, it is proved that the proposed control algorithm achieves the desired control effect.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:With the development of intelligent manufacturing, robots are used more and more in grinding and polishing. In the process of robot polishing, it is very important to control the grinding force and improve the polishing quality. Therefore, the control algorithm of robot grinding force is studied in this paper. (1) by analyzing the force of workpiece in the grinding process, it is concluded that the normal force of grinding time is constant force to control the polishing quality. Combined with the advantages and disadvantages of two active compliance control algorithms, a hybrid force position control algorithm is proposed to control the robot grinding force. (2) aiming at the external force interference and surface polishing in the process of robot grinding and polishing, The variable parameter PID control method and the vector normal potential hybrid control algorithm are proposed respectively. According to the parameter variation model of PID controller, a PID controller with variable control parameters is established to improve the ability of robot to control grinding force and resist external force interference during grinding and polishing process. By analyzing the surface model and the principle of surface tracking control, a hybrid force control algorithm based on vector method is proposed to realize multi-dimensional force control and surface tracking of robot. (3) the hybrid force position control algorithm is simulated in MATLAB and Adams simulation environment. By verifying the variable parameter PID control algorithm in MATLAB, it is shown that the terminal force stabilizes in 0.8 s when the external force interferes, while the multidimensional force stabilizes within 1 s when the vector control algorithm is used. In the joint simulation experiment of MATLAB and Adams, the end force is stable in 0.8s and has the effect of surface tracking. The two control algorithms are verified. (4) the verification experiment of the hybrid control algorithm is designed. It is verified that the variable parameter PID is 70% higher than that of the conventional PID, while the robot can maintain a stable state when the multi-dimensional force is disturbed by the external force. By analyzing the change of experimental curve, it is proved that the proposed control algorithm achieves the desired control effect.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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