基于电磁变刚度的力控制装置研究

Researchon the Force Control Device Based on Electromagnetic Variable Stiffness Principle

针对传统打磨工艺中接触正压力稳定性差、打磨后表面粗糙度高等问题,基于线圈-永磁铁非接触式共轴组合的电磁交互效应,设计了一种接触力实时可控的变刚度装置。基于Robertson理论,建立线圈-永磁铁电磁系统输入电流到输出力的解析映射模型。在此基础上,采用复化高斯积分方法对电磁力控装置的结构参数进行了优化设计。基于PID算法,设计了该电磁力控装置的自适应力控制策略。最后进行车身表面缺陷机器人自动化打磨对比实验,实验结果表明,电磁力控装置能有效降低打磨后的表面粗糙度,提高表面质量。

In view of the problems of poor stability of pressureofcontactsurfaceand high roughness of surface in the traditional polishing process,this paper designs a real-time force controlpolishing device with variable stiffness based on principle of the non-contact electromagnetic interaction effects.According to the theory of Roberson,an analytical mapping model from the input current to the output force of the electromagnetic interaction system composed of coil and coaxial magnet is established.Based on the derived model,the structural parameters of electromagnetic force control device are designed by the method of Multiple-Complex-Gauss-Legendre integral.The force control strategy is determined on the basis of PID algorithm.The comparative experiment of polishing the surface defectsis carried out using the robot.The results show that the electromagnetic force control device effectively reduces the roughness of surface and improves the quality of surface.