[1]陆祎慧,程丽娟,方成刚,等.基于被动柔顺装置的改进PID控制方法[J].工业仪表与自动化装置,2023,(06):114-120.[doi:DOI:10.19950/j.cnki.cn61-1121/th.2023.06.020]
　LU Yihui,CHENG Lijuan,FANG Chenggang,et al.Improved PID control method based on passive compliance device[J].Industrial Instrumentation & Automation,2023,(06):114-120.[doi:DOI:10.19950/j.cnki.cn61-1121/th.2023.06.020]
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基于被动柔顺装置的改进PID控制方法

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2023年06期
页码:
114-120
栏目:
出版日期:
2023-12-15

文章信息/Info

Title:
Improved PID control method based on passive compliance device
文章编号:
1000-0682（2023）06-0114-00
作者:
陆祎慧1; 程丽娟2; 方成刚1; 陈宜涛1
1.南京工业大学机 械与动力工程学院，南京 211816；
2.江苏易蝶软件科技有限公司，江苏 镇江 212000
Author(s):
LU Yihui; CHENG Lijuan; FANG Chenggang; CHEN Yitao
1.School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China；
2.Jiangsu Easy Software Technology Company Limited, Jiangsu Zhenjiang 212000,China
关键词:
PID控制; 被动柔顺; 机器人铣削; 力波动
Keywords:
PID control; passive compliance; robot milling; force fluctuation
分类号:
TP273
DOI:
DOI:10.19950/j.cnki.cn61-1121/th.2023.06.020
文献标志码:
B
摘要:
为了解决机器人铣削过程中存在力波动的问题，设计了一种被动柔顺装置并提出了一种基于被动柔顺装置的改进PID控制方法。柔顺装置安装于机器人末端，通过仿形轮、导轨和滑块的相对运动来达到沿着表面铣削的效果。改进的PID控制方法在参考信号之后引入二阶设定点滤波器，并设置合理的参数，首先在MATLAB/Simulink环境搭建模型，然后通过对比仿真实验证明该方法可以减少超调量的同时提高响应速度，并减少系统误差。随后，在Adams软件导入模型进行仿真实验，初步证明了该方法可以减少接触力的波动。同时，铣削实验进一步证明了该方法可以在铣削不同位置的表面的情况下均可减少仿形轮压力Fz的波动，压力极差减少0.5 N~0.6 N，方差减少15%~20%，并且铣削后的工件表面质量较好，证明了提出的方法的可行性。
Abstract:
In order to address the issue of force fluctuation in robotic milling processes, a passive compliance device is designed, and an improved PID control method based on the passive compliance device is proposed. The compliance device is installed at the end effector of the robot and achieves milling along the surface through the relative motion of a contour wheel, guide rail, and slider. The improved PID control method introduces a second-order set point filter after the reference signal, sets reasonable parameters, builds a model in MATLAB/Simulink environment, and then proves through comparative simulation experiments that this method can reduce the overshoot, improve the response speed, and reduce the system error. Then, simulation experiments are carried out in Adams, and it is preliminarily proved that this method can reduce the fluctuation of contact force. At the same time, the milling experiment proves that the method can reduce the fluctuation of the pressure Fz of the contour wheel under the condition of milling the surface at different positions, the pressure range is reduced by 0.5~0.6N, the variance is reduced by 15%~20%, and the surface quality of the workpiece after milling is better, which proves the feasibility of the proposed method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2023-08-08

基金项目：
扬州西融储能有限公司合作项目(高邮电池装配线)

第一作者：
陆祎慧(1998—)，男，江苏常州人，南京工业大学硕士研究生，研究方向为工业信息与智能化。

通信作者：
方成刚(1974—)，男，江苏大丰人，教授，硕士研究生导师，研究方向为智能制造。
更新日期/Last Update: 1900-01-01