基于模糊PID的机器人恒力磨抛控制研究

Research on Robot Constant Force Grinding and Polishing Control Based on Fuzzy PID

为了提高工件表面的磨抛质量,提出一种基于模糊PID的恒力控制算法,以打磨压力误差e和压力误差变化率ec为输入变量,将模糊控制与普通PID结合,对打磨头的压力和位置进行控制。文中将该方法与传统PID方法进行仿真对比,并基于FANUC机器人构建恒力打磨平台,结果表明:该方法具有更快的调节速度、更小的超调量和良好的稳定性,恒力磨抛的工件表面粗糙度在0.18~0.22μm之间,有效地提高了磨抛质量。

In order to improve the grinding and polishing quality of the workpiece surface,a constant force control method based on fuzzy PID is proposed in this paper.The grinding pressure error e and pressure error change rate ec are used as input variables.The fuzzy adaptive tuning PID method is used to achieve constant force grinding of the robot.In this paper,this method is compared with the traditional PID method,and the constant surface grinding based on the FANUC robot is used to perform the actual plane grinding experiment.The results show that the method has faster adjustment speed,smaller overshoot,and good stability.The surface roughness of the workpiece with constant force grinding and polishing is between 0.18-0.22μm,which effectively improves the quality of grinding and polishing.