固着磨料双面研磨压力模糊自整定PID控制方法研究

Study on Fuzzy Self-tuning PID Parameters Control Method of Doubleside Plane Lapping Force with Solid Abrasive Materials

以NUMPOWER1060数控系统为主控单元,结合力-位控制和模糊推理的特点,提出了一种模糊自整定PID参数的力-位控制方法。利用高精度扭矩传感器和力传感器对Z轴电机输出扭矩与研磨压力之间的关系进行了标定,通过检测Z轴输出扭矩间接获得了研磨压力的大小。根据Z轴进给速度调节因子uv对研磨压力的影响规律,建立了模糊控制规则集,设计了模糊控制PID算法,保证了研磨压力的恒定。工件研磨试验表明该方法提高了工件的表面质量。

NUMPOWER1060 NC system was acted herein as master control unit,combining the characteristics of force/position control and fuzzy inference,a novel force/position control method with fuzzy self-tuning PID parameters was presented.The relationship among lapping force of Z axis and its corresponding output torque was established by calibrating experiments with high-precision torque transducer and force sensor.According to the influencing law of Z-axis’s feeding speed regulator uv （the output of PID controller）on lapping force,the reasonable rule sets of fuzzy control were set up, by whose output the PID parameters could be adjusted,so it was effective to keep lapping force con-stant.The experimental results of lapping workpiece show that it is valid to improve the surface quali-ty of workpiece remarkably.