基于模糊自整定PID的力控制磨削实验研究

Experiment research on force control grinding based on fuzzy-PID

为保证磨削过程中法向磨削力的稳定,建立了基于X-Y数控平台的力控制磨削系统,该系统是一个非线性、时变的实时控制系统。分析了磨削过程的动力学模型并写出其状态方程。根据状态方程设计了模糊自整定PID控制器,用遗传算法整定PID参数,并记录整定过程中的输入-输出数据组,由数据组生成模糊控制规则。用该控制器与普通PID控制器进行了仿真对比,并在仿真过程中加入误差和突变信号以检验控制器的自适应性。在X-Y数控平台上进行了力控制磨削实验研究,结果表明模糊自整定PID力控制磨削方法能减小力波动,提高力控制精度。

To ensure the constancy of the normal grinding force in the process of automatic grinding, a force control grinding system is established based on X-Y NC platform, which is a nonlinear and time-varying real-time control system. The kinetic model of grinding process is analyzed and the state equation is deduced. The Fuzzy-PID controller is designed based on the state equation. The PID parameters are adjusted by genetic algorithm and at the same time record the input and output data set. The Fuzzy rules are generated based on data set. The controller is compared with PID controller by simulation. An error and mutation signal is joined in the simulation to test the adaptability of each controller. In addition, an experiment research of force control grinding is conduct on the X-Y NC platform. The results show that the fuzzy self-tuning PID control method of force control grinding is able to reduce the force fluctuation and improve the force control accuracy.