【摘要】：隨著智能制造的發(fā)展,機器人在磨拋中應(yīng)用也越來越多。在機器人磨拋過程中,穩(wěn)定控制磨拋力提高對磨拋質(zhì)量具有重要意義。因此,本文針對機器人磨拋力的控制算法進行研究。(1)通過分析磨拋過程中工件的受力情況,得出控制磨拋時法向力為恒力來控制磨拋質(zhì)量。結(jié)合兩種主動柔順控制算法的優(yōu)缺點,最終提出力位混合控制算法來控制機器人磨拋力。(2)針對機器人磨拋過程中外力干擾和曲面磨拋,分別提出變參數(shù)PID控制法和基于矢量法力位混合控制算法。依據(jù)PID控制器的參數(shù)變化模型,建立控制參數(shù)隨工況變化的PID控制器,提高機器人在磨拋過程控制磨拋力抗外力干擾的能力。通過分析曲面模型和曲面跟蹤控制原理,提出了基于矢量法的力位混合控制算法,實現(xiàn)機器人多維力控制和曲面跟蹤。(3)在MATLAB和Adams仿真環(huán)境中對力位混合控制算法進行仿真驗證。通過在MATLAB中驗證變參數(shù)PID控制算法,表明外力干擾時末端力在0.8s內(nèi)穩(wěn)定下來;而驗證基于矢量法控制算法時,多維力在1s內(nèi)穩(wěn)定下來。在MATLAB和Adams聯(lián)合仿真實驗中,末端力在0.8s內(nèi)穩(wěn)定并具有曲面跟蹤的效果,驗證了提出的兩種控制算法。(4)設(shè)計力位混合控制算法的驗證實驗,驗證了變參數(shù)PID比常規(guī)PID穩(wěn)定速率提高70%,而機器人在多維力在外力干擾時,可以一直保持穩(wěn)定狀態(tài)。分析實驗曲線變化,證明提出的控制算法達(dá)到預(yù)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.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：2207245