抛光力实时控制策略研究

Research on Real-Time Control Strategies of Polishing Force

针对传统抛光过程中的力位耦合问题,构建力位解耦的抛光力气动伺服控制系统.利用数据采集卡和Matlab/simulink的实时工具箱RTW,分别采用传统PID控制、前馈PID控制和单神经元PID控制三种控制策略,研究抛光力气动伺服系统实时控制效果.采用在线最小递归二乘法对前馈PID控制策略的参数实现精确辨识.采用有监督的Hebb学习规则调整单神经元PID加权系数.抛光力实时控制实验结果表明,前馈PID控制和单神经元PID控制与传统PID控制相比,能达到更好的控制效果.前馈PID控制达到稳定力输出所需时间短,单神经元PID控制达到力稳定的过程中振荡很小.

A force-position decoupling pneumatic servo control system for polishing force was set up to solve force-position coupling problem in traditional polishing process. The real-time control results of pneumatic control system for polishing force were researched by adopting traditional PID control,feed-forward PID control and single neuron PID control,using data acquisition card and RTW real-time toolbox in the Matlab / simulink. The parameters in feed-forward PID control can be identified by online recursive least squares algorithm. The weighting coefficients in single neuron PID control can be modified by the supervised Hebb learning rules. The real-time control experimental results of polishing force indicate that the better control effect can be realized by feed-forward PID control and single neuron PID control than by PID control. The duration for stabilizing process of the polishing force is short by feed-forward PID control and the oscillation is little during the stabilizing process of the polishing force by single neuron PID control.