随五轴加工轨迹变抛光力的控制策略与方法

doi:10.12068/j.issn.1005-3026.2020.01.016

东北大学学报:自然科学版 ›› 2020, Vol. 41 ›› Issue (1): 89-94.DOI: 10.12068/j.issn.1005-3026.2020.01.016

随五轴加工轨迹变抛光力的控制策略与方法

史家顺，董金龙，刘聪，于天彪

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2019-02-21 修回日期:2019-02-21 出版日期:2020-01-15 发布日期:2020-02-01
通讯作者: 史家顺
作者简介:史家顺(1963-)，男，辽宁沈阳人，东北大学副教授；于天彪(1968-)，男，吉林榆树人，东北大学教授，博士生导师.
基金资助:
国家自然科学基金-辽宁联合基金重点资助项目(U1508206).

Control Strategy and Method for Variable Polishing Force Adapting to the 5-Axis Machining Trajectory

SHI Jia-shun， Dong Jin-long， LIU Cong， YU Tian-biao

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Received:2019-02-21 Revised:2019-02-21 Online:2020-01-15 Published:2020-02-01
Contact: SHI Jia-shun
About author:-
Supported by:
-

摘要/Abstract

摘要： 设计了以PWM信号高速开关控制为核心的气动抛光力加载控制系统，采用滑动平均滤波PID算法调节，通过Simulink仿真和实验调整PID参数，提高系统动态性能，保证变抛光力的控制要求.借助五轴混联机器人动平台，搭建五轴变抛光力试验系统，进行跟随轨迹的变抛光力加载实验.实验结果表明，设计的滑动平均滤波PID控制能够在力控制要求改变时快速响应，使抛光力跟踪至设定值，力实测值误差在±1N以内，波动范围小，具有足够的稳定性和准确性，满足变抛光力的控制要求，实现了跟随五轴加工轨迹的变抛光力控制.

关键词: 五轴加工轨迹, 变抛光力, PID控制, 滑动平均滤波, PWM信号

Abstract: A pneumatic polishing force loading control system based on high speed on/off controlled by pulse-width modulation(PWM) signals was designed. The control system was adjusted by the moving average filter PID control method. PID parameters were determined by Simulink simulation and experiment， so the dynamic property of the system was improved to ensure the control requirement of variable polishing force. Assisted by a 3-TPS hybrid robot， a 5-axis variable polishing force experiment system was built， and the experiment of variable polishing force adapting to the 5-axis machining trajectory was conducted. The experiment results illustrate that the moving average filtering PID control can quickly respond as the setting force changes and the measure force value can quickly track the changing setting value. The average error of the force is about ±1N with a small fluctuation range. The control system has enough stability and accuracy to satisfy the control requirement of variable polishing force. Variable polishing force adapting to the 5-axis machining trajectory is thus achieved.

Key words: 5-axis machining trajectory, variable polishing force, PID control, moving average filtering, PWM signal

中图分类号:

TP273

史家顺，董金龙，刘聪，于天彪. 随五轴加工轨迹变抛光力的控制策略与方法[J]. 东北大学学报:自然科学版, 2020, 41(1): 89-94.

SHI Jia-shun， Dong Jin-long， LIU Cong， YU Tian-biao. Control Strategy and Method for Variable Polishing Force Adapting to the 5-Axis Machining Trajectory[J]. Journal of Northeastern University Natural Science, 2020, 41(1): 89-94.

参考文献

[1]李荣彬，张志辉，杜雪，等.自由曲面光学元件的设计、加工及面形测量的集成制造技术［J］.机械工程学报，2010，46(11):137-148.(Li Rong-bin，Zhang Zhi-hui，Du Xue，et al.Integrated manufacturing technology for design，machining and measurement of freeform optics［J］.Journal of Mechanical Engineering，2010，46(11):137-148.)
[2]Fan C，Hong G S，Zhao J，et al.The integral sliding mode control of a pneumatic force servo for the polishing process［J］.Precision Engineering，2019，55(1):154-170.
[3]樊成.光学曲面确定性抛光的面型精度控制研究［D］.长春:吉林大学，2014.(Fan Cheng.Investigation on control of surface form accuracy for deterministic polishing of optical part surfaces［D］.Changchun:Jilin University，2014.)
[4]张雷，周宛松，卢磊，等.抛光力实时控制策略研究［J］.东北大学学报(自然科学版)，2015，36(6):853-857.(Zhang Lei，Zhou Wan-song，Lu Lei，et al.Research on real-time control strategies of polishing force［J］.Journal of Northeastern University(Natural Science)，2015，36(6):853-857.)
[5]Lin B，Jiang X M，Cao Z C，et al.Development and theoretical analysis of novel center-inlet computer-controlled polishing process for high-efficiency polishing of optical surfaces［J］.Robotics and Computer-Integrated Manufacturing，2019， 59(10):1-12.
[6]Oba Y，Kakinuma Y.Simultaneous tool posture and polishing force control of unknown curved surface using serial-parallel mechanism polishing machine［J］.Precision Engineering，2017，49(7):24-32.
[7]Barber J R.Contact mechanics:Hertzian contact［M］.Cham:Springer，2018:29-41.
[8]Nagata F，Hase T，Haga Z，et al.CAD/CAM-based position/force controller for a mold polishing robot［J］.Mechatronics，2007，17(4):207-216.
[9]Zeng S，Blunt L.An experimental study on the correlation of polishing force and material removal for bonnet polishing of cobalt chrome alloy［J］.International Journal of Advanced Manufacturing Technology，2014，73(1/2/3/4):185-193.
[10]Han G C，Jia Z，Wang X Y.Research on unbounded abrasive polishing process with assisted ultrasonic vibration of workpiece［J］.International Journal of Advanced Manufacturing Technology，2017，88(1/2/3/4):209-218.
[11]Jin M S，Ji S M，Pan Y，et al.Effect of downward depth and inflation pressure on contact force of gasbag polishing［J］.Precision Engineering，2017，47(1):81-89.
[12]向忠，陶国良，谢建蔚，等.气动高速开关阀动态压力特性仿真与试验研究［J］.浙江大学学报(工学版)，2008，42(5):845-849，857.(Xiang Zhong，Tao Guo-liang，Xie Jian-wei，et al.Simulation and experimental investigation on pressure dynamics of pneumatic high-speed on/off valves［J］.Journal of Zhejiang University(Engineering Science)，2008，42(5):845-849，857.)
[13]Zhang B，Zhong Q，Ma J E，et al.Self-correcting PWM control for dynamic performance preservation in high speed on/off valve［J］.Mechatronics，2018，55(11):141-150.
[14]Najafi F，Fathi M，Saadat M.Performance improvement of a PWM-sliding mode position controller used in pneumatic actuation［J］.Intelligent Automation & Soft Computing，2009，15(1):73-84.
[15]Tao G L，Zhu X C，Cao J.Modeling and controlling of parallel manipulator joint driven by pneumatic muscles［J］.Chinese Journal of Mechanical Engineering，2005，18(4):537-541.
[16]Zhao P B，Shi Y Y.Composite adaptive control of belt polishing force for aero-engine blade［J］.Chinese Journal of Mechanical Engineering，2013，26(5):988-996.
[15]关守平，房少纯.一种新型的区间-粒子群优化算法［J］.东北大学学报(自然科学版)，2012，33(10):1381-1384.(Guan Shou-ping，Fang Shao-chun.A new particle swarm optimization algorithm［J］.Journal of Northeastern University(Natural Science)，2012，33(10):1381-1384.)

随五轴加工轨迹变抛光力的控制策略与方法

Control Strategy and Method for Variable Polishing Force Adapting to the 5-Axis Machining Trajectory

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	沙毅，范倩雯，张立立，朱丽春. 自校正模糊PID控制的FAST节点位移控制方法[J]. 东北大学学报:自然科学版, 2018, 39(4): 487-491.
[2]	张鹏，李平，李青芮. 重力训练法[J]. 东北大学学报:自然科学版, 2015, 36(11): 1558-1561.
[3]	贤燕华，冯久超. 直流变换器的区域极点配置鲁棒PID控制算法[J]. 东北大学学报(自然科学版), 2013, 34(10): 1369-1373.
[4]	李振垒;李海军;王昭东;王国栋;. 热轧板带钢的超快速冷却控制系统[J]. 东北大学学报(自然科学版), 2012, 33(10): 1436-1439+1452.
[5]	邹德旋;高立群;吴沛锋;吴建华;. 一种全局和声搜索算法及在PID控制中的应用[J]. 东北大学学报(自然科学版), 2010, 31(11): 1534-1537.
[6]	李俊;王大志;. 一种有源滤波器的PWM变换器优化控制方法[J]. 东北大学学报(自然科学版), 2009, 30(9): 1225-1228.
[7]	翟廉飞;柴天佑;. 一类非线性离散系统的神经网络自适应控制[J]. 东北大学学报(自然科学版), 2009, 30(11): 1521-1525.
[8]	孙涛;周娜;王丙兴;刘相华;. 中厚板控制冷却系统的水流量控制技术[J]. 东北大学学报(自然科学版), 2008, 29(6): 842-844.
[9]	王丹;李鑫;王晓光;李明;. 基因型扩增仪的温度控制系统[J]. 东北大学学报(自然科学版), 2008, 29(4): 569-572.
[10]	任双艳;边春元;刘杰;. 基于DSP的磁悬浮轴承数字控制系统[J]. 东北大学学报(自然科学版), 2007, 28(7): 1025-1028.
[11]	肖军;贾宁宇;王洪光;. 小型爬壁机器人系统设计与应用[J]. 东北大学学报(自然科学版), 2007, 28(10): 1442-1445.
[12]	李勇;王君;胡贤磊;刘相华;. 轧辊偏心补偿重复控制系统的设计与仿真[J]. 东北大学学报(自然科学版), 2006, 27(2): 177-180.
[13]	张福波;王国栋;张殿华;刘相华. PID控制器参数的ITAE最佳设定公式[J]. 东北大学学报(自然科学版), 2005, 26(8): 755-758.
[14]	李鸿儒;白湘波;顾树生. 基于神经网络的永磁同步电机的鲁棒控制[J]. 东北大学学报(自然科学版), 2001, 22(4): 362-365.
[15]	靳其兵;李鸿儒;刘子静;顾树生. 带神经网络补偿的Smith预估极点配置自校正控制[J]. 东北大学学报(自然科学版), 1999, 20(2): 4--.