CN108972343A - A kind of two degrees of freedom grinding and polishing Study on Contact Force Control and system - Google Patents
A kind of two degrees of freedom grinding and polishing Study on Contact Force Control and system Download PDFInfo
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- CN108972343A CN108972343A CN201810820336.0A CN201810820336A CN108972343A CN 108972343 A CN108972343 A CN 108972343A CN 201810820336 A CN201810820336 A CN 201810820336A CN 108972343 A CN108972343 A CN 108972343A
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- bistrique
- contact force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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Abstract
The invention belongs to grinding and polishing contact force control fields, and specifically disclose a kind of two degrees of freedom grinding and polishing Study on Contact Force Control and system, and acquisition two degrees of freedom power control device is relative to the angle change information and x of world coordinate system to force information F firstx1And y is to force information Fy1；According to angle change information to Fx1And Fy1Gravity compensation is carried out, F is obtainedxAnd Fy, according to FxAnd FyCalculate contact normal pressure Fc；By FcIt is compared to obtain power error with desired contact force, the rate controlling amount according to power error calculation bistrique in contact force direction, and calculates bistrique tangential velocity control amount；Rate controlling amount and tangential velocity control amount according to bistrique in contact force direction obtain x and y to rate controlling amount；The practical contact force of bistrique and part is made to reach desired contact force in the case where x and y is controlled to rate controlling amount.The control of contact force in two degrees of freedom polishing processing can be achieved in the present invention, guarantees that polishing processing is stablized and carries out, high in machining efficiency.
Description
Technical field
The invention belongs to grinding and polishing contact force control fields, control more particularly, to a kind of two degrees of freedom grinding and polishing contact force
Method and system.
Background technique
As scientific technological advance makes rapid progress, the complex-curved application in fields such as aerospace, automobile, ships is increasingly
Extensively.These curved surfaces cannot be made of elementary analytic surface, it is difficult to which gain freedom complex-curved Exact, therefore complicated
The finishing of curved surface is manufacture problem urgently to be resolved.
The surface finish work of free form surface mainly has the mode of numerical control polishing technology and artificial hand lapping at present.Wherein,
Numerical control polishing technology manually polishes large labor intensity there are numerically-controlled machine tool is expensive and the shortcomings that processing efficiency is low, processes
Low efficiency, working environment is severe, while workpiece accuracy is influenced very greatly, seriously to constrain the table of workpiece by worker's skills involved in the labour
Face quality.Compared with traditional processing mode, robot system has that flexibility is good, versatile, is easy to the advantages that expanding, therefore
Constant force polishing system and the method for studying robot clamping ends actuator are necessary.
Needed in constant force polishing system and method realize contact force control, mainly include single-degree-of-freedom contact force control and
The control of two degrees of freedom contact force, the Study on Contact Force Control of single-degree-of-freedom have that time-consuming and were easy throwing, and two freely
Degree contact force control can greatly promote grinding and polishing efficiency, and be more advantageous to avoided the problem that throwing to a certain extent.But for
How the effective control of two degrees of freedom contact force is realized, current research is less, in order to realize the effective of two degrees of freedom contact force
Real-time control, it is necessary to conduct further research.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of two degrees of freedom grinding and polishing contact force controls
Method and system processed realize the control of contact force in two degrees of freedom polishing processing by the decoupling of power position, so that grinding and polishing contact force
Consistently equal to it is expected contact force, guarantees to stablize the polishing processing process complied with, improve processing efficiency, part can be stablized
Efficient polishing and polishing.
To achieve the above object, according to one aspect of the present invention, a kind of two degrees of freedom grinding and polishing contact force control is proposed
Method comprising following steps:
S1 acquire for realizing grinding and polishing two degrees of freedom power control device relative to world coordinate system angle change information with
And the x of two degrees of freedom power control device is to force information Fx1And y is to force information Fy1；
S2 carries out gravity compensation to force information and y to force information to x according to angle change information, obtain compensated x to
Force information FxAnd y is to force information Fy, according to FxAnd FyContact normal pressure F is calculatedc；
S3 will contact normal pressure FcIt is compared to obtain power error with preset expectation contact force, be gone out according to power error calculation
It is tangential in x to location information and y to positional information calculation to go out bistrique according to bistrique in the rate controlling amount in contact force direction for bistrique
Rate controlling amount；
Rate controlling amount and tangential velocity control amount of the S4 by calculated bistrique in contact force direction pass through decoupling matrices
The x and y for decomposing to two degrees of freedom power control device are upward, obtain two degrees of freedom power control device x and y to rate controlling amount；
S5 using two degrees of freedom power control device x and y to rate controlling amount realize two degrees of freedom power control device x and y to fortune
Dynamic control, so that the practical contact force of bistrique and part reaches desired contact force.
As it is further preferred that specifically carrying out gravity compensation in the following way:
(1) calculate two degrees of freedom power control device x to and y to compensation rate:
Fx2=G0×sin(γ)
Fy2=G0×cos(γ)cos(β)
Wherein, Fx2For two degrees of freedom power control device x to compensation rate, Fy2For two degrees of freedom power control device y to compensation
Amount, G0For the gravity of the grinding head motor and bistrique that are connected with force snesor, γ is that two degrees of freedom power control device is sat relative to the world
The rotation angle of mark system X-axis, β are rotation angle of the two degrees of freedom power control device relative to world coordinate system Y-axis；
(2) compensated x is calculated to force information FxAnd y is to force information Fy:
Fx=Fx1-Fx2
Fy=Fy1-Fy2。
As it is further preferred that contact normal pressure FcIt is calculated using following formula:
Wherein,μ is contact normal pressure FcWith tangential grinding and polishing power FfBetween coefficient.
As it is further preferred that specifically calculating bistrique in the rate controlling amount in contact force direction using following formula:
Wherein, u1It (t) is rate controlling amount of the bistrique in contact force direction, KpFor proportionality coefficient, KiFor integral coefficient, Kd
For differential term coefficient, e (t) is power error, e (t)=expectation contact force FdContact normal pressure Fc, t is the time.
As it is further preferred that specifically calculating bistrique tangential velocity control amount using following formula:
Wherein, u2It (t) is bistrique tangential velocity control amount, KpFor proportionality coefficient, KiFor integral coefficient, KdFor differential term system
Number, p (t) location error, p (t)=cos (α) × Yp-sin(α)×Xp, XpLocation information for bistrique in the direction x, YpFor bistrique
Location information in the direction y, t are time, α FxWith FcAngle.
As it is further preferred that rate controlling amount and tangential velocity by calculated bistrique in contact force direction control
Amount obtains two degrees of freedom power control device x and y to speed by x and y that decoupling matrices decompose to two degrees of freedom power control device upwards
Control amount, specifically:
ux=cos (α) × u1(t)-sin(α)×u2(t)
uy=cos (α) × u1(t)+cos(α)×u2(t)
Wherein, uxIt is x to rate controlling amount, uyIt is y to rate controlling amount, u1(t) speed for bistrique in contact force direction
Control amount, u2It (t) is the tangential velocity control amount of bistrique, α FxWith FcAngle.
As it is further preferred that α is calculated using following formula:
As it is further preferred that the power after Gravity over compensation is compared with preset power, if after gravity compensation
The absolute value of power is greater than preset power, then stops the movement of two degrees of freedom power control device；Simultaneously by the x of two degrees of freedom power control device to
Or y to displacement information be compared with preset distance, if more than preset distance, then stop two degrees of freedom power control device fortune
It is dynamic.
It is another aspect of this invention to provide that providing a kind of two degrees of freedom grinding and polishing contact Force control system comprising:
Information acquisition module, for acquire two degrees of freedom power control device relative to world coordinate system angle change information with
And the x of two degrees of freedom power control device is to force information Fx1And y is to force information Fy1；
Gravity compensation module, for carrying out gravity compensation to force information and y to force information to x according to angle change information,
Compensated x is obtained to force information FxAnd y is to force information Fy；
Contact normal pressure computing module, for according to compensated x to force information FxAnd y is to force information FyIt is calculated and connects
Touch normal pressure Fc；
Power control module, for normal pressure F will to be contactedcIt is compared to obtain power error with preset expectation contact force, and
Go out bistrique in the rate controlling amount in contact force direction according to power error calculation；
Position control module, for going out bistrique tangential velocity to location information and y to positional information calculation in x according to bistrique
Control amount；
Power position decoupling module is controlled for the rate controlling amount and tangential velocity by calculated bistrique in contact force direction
Amount is upward by the x and y that decoupling matrices decompose to two degrees of freedom power control device, obtains two degrees of freedom power control device x and y to speed
Control amount；
Two parameter compensator module, for realizing two degrees of freedom to rate controlling amount using two degrees of freedom power control device x and y
Power control device x and y to motion control so that the practical contact force of bistrique and part reaches desired contact force.
As it is further preferred that further including overload protection module and overtravel protective module, wherein overload protection module
For the power after gravity compensation to be compared with preset power, and the absolute value of the power after gravity compensation is greater than preset
When power, stop the movement of two degrees of freedom power control device；Overtravel protective module be used for by the x of two degrees of freedom power control device to or y
To displacement information be compared with preset distance, and displacement information be greater than it is preset apart from when, stop two degrees of freedom power
Control the movement of device.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
1. the real-time control of the achievable two degrees of freedom grinding and polishing contact force of the present invention, so that grinding and polishing contact force is consistently equal to it is expected
Contact force guarantees to stablize the polishing processing process complied with, improve so that part is polished and is ground under desired contact force
Processing efficiency, and avoid workpiece caused by grinding and polishing power during grinding and polishing is excessive or grinding and polishing overlong time and cross throwing, grinding and polishing not
The problems such as uniform.
2. the present invention is compared to obtain power error with desired contact force by that will contact normal pressure, and according to power error meter
Bistrique is calculated in the rate controlling amount in contact force direction, while according to the x of two degrees of freedom power control device to location information and y to position
Confidence breath calculates bistrique tangential velocity control amount, obtains two degrees of freedom by the rate controlling amount decoupling of the both direction with this
Power control device x and y to rate controlling amount, under the control of the rate controlling amount of the both direction realize bistrique movement control
System, not only realizes the control of bistrique tangential position, while also achieving the contact force control of bistrique and part (i.e. grinding and polishing contacts
Power).
3. the present invention is by gravity compensation process, by the noise information in force information, (the information in addition to contact force is weighed
Force information) it rejects, to guarantee that compensated information is only information relevant to contact force, guarantees the accuracy of control, improve zero
The precision and quality of part grinding and polishing.
4. it is tangential that rate controlling amount, the bistrique of contact normal pressure, bistrique in contact force direction is also set forth in the present invention
Rate controlling amount, two degrees of freedom power control device x and y are to rate controlling amount, FxWith FcThe parameters such as angle specific processing formula,
Each parameter can be achieved quickly and effectively to solve and obtain.
5. the present invention is also provided with overload protection and overtravel protection, prevent instantaneous force excessive super by overload protection
Exertin transducer range and damage force snesor, it is stuck to be protected from two-freedom-degree motion platform overtravel by overtravel.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of two degrees of freedom power control device；
Fig. 2 is the flow chart of two degrees of freedom grinding and polishing Study on Contact Force Control provided in an embodiment of the present invention；
Fig. 3 is the stress diagram during two degrees of freedom power control device provided in an embodiment of the present invention contact part；
Fig. 4 is the schematic diagram of integral blade disk provided in an embodiment of the present invention.
In all the appended drawings, identical appended drawing reference indicates identical element or structure, in which: 1- connecting flange, 2- bis-
Freedom degree motion platform, 3- force snesor, 4- grinding head motor, 5- bistrique, 7- obliquity sensor, 8- servo motor, 9- entirety leaf
Dish-type face.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
For the ease of the explanation of two degrees of freedom Study on Contact Force Control, first to the two degrees of freedom power control for realizing grinding and polishing
The structure of device is briefly described, and is existing conventional structure, as shown in Figure 1, including connecting flange 1, two degrees of freedom fortune
Moving platform 2, force snesor 3, grinding head motor 4, bistrique 5, obliquity sensor 7, servo motor 8, by connecting flange 1 by entire two
Freedom degree force control device is connected to robot execution end or lathe, two-freedom-degree motion platform 2 are connected with connecting flange 1,
It is set on the two-freedom-degree motion platform 2 there are two servo motor 8, force snesor 3 connects two-freedom-degree motion platform 2 and bistrique electricity
Machine 4, bistrique 5 are removably connected to grinding head motor 4, and inclination angle sensing 7 is mounted on two-freedom-degree motion platform 2, two servos
Motor 8 is connected by two ball screw frameworks with two-freedom-degree motion platform 2, and the orthogonal setting of two ball-screws, one is watched
It takes motor control two-freedom-degree motion platform 2 to move in a straight line in the x-direction, another Serve Motor Control two degree-of-freedom motion is flat
The linear motion of platform 2 in the y-direction, movement band rotary bistrique 5 of the two-freedom-degree motion platform 2 in x/y plane are transported in x/y plane
It is dynamic.
Fig. 2 is the flow chart of two degrees of freedom grinding and polishing Study on Contact Force Control provided in an embodiment of the present invention, as shown in Fig. 2,
This method comprises the following steps:
S1 drives the movement of two degrees of freedom power control device by robot or lathe, to connect with rotary bistrique and the part to grinding and polishing
Touching is believed by 7 acquisition two degrees of freedom power control device of inclination angle sensing relative to the angle change of world coordinate system during the motion
Cease γ and β, wherein γ is rotation angle of the two degrees of freedom power control device relative to world coordinate system X-axis, and β is two degrees of freedom power
Rotation angle of the device relative to world coordinate system Y-axis is controlled, wherein world coordinate system is preset, remain constant,
In two degrees of freedom power control device motion process, changes with the relative position of world coordinate system, in the process, can pass through
Inclination angle sensing measurement goes out rotation angle of the two degrees of freedom power control device relative to world coordinate system XYZ axis；It is surveyed by force snesor 3
Amount obtains the x of two degrees of freedom power control device to force information Fx1And y is to force information Fy1；Force snesor 3 is mounted on two degrees of freedom power control
On device, in two degrees of freedom power control device motion process, force snesor 3 can measure the power in tri- directions xyz, as shown in Figure 1,
For x to the two-freedom-degree motion platform direction that level moves left and right in the case where a wherein servo motor 8 drives is referred to, y is free to finger two
Spend motion platform horizontal direction being moved forward and backward under the drive of another servo motor 8, z is to vertical with x/y plane；
S2 is according to angle change information to x to force information Fx1And y is to force information Fy1Gravity compensation is carried out, after being compensated
X to force information FxAnd y is to force information Fy, specifically, carrying out gravity compensation in the following way:
S21 calculate two degrees of freedom power control device x to and y to compensation rate:
Fx2=G0×sin(γ)
Fy2=G0×cos(γ)cos(β)
Wherein, Fx2For two degrees of freedom power control device x to compensation rate, Fy2For two degrees of freedom power control device y to compensation
Amount, G0For the gravity of the grinding head motor and bistrique that are connected with force snesor, γ is that two degrees of freedom power control device is sat relative to the world
The rotation angle of mark system X-axis, β are rotation angle of the two degrees of freedom power control device relative to world coordinate system Y-axis；
S22 calculates compensated x to force information FxAnd y is to force information Fy:
Fx=Fx1-Fx2
Fy=Fy1-Fy2；
Then, according to FxAnd FyContact normal pressure F is calculatedc(grinding and polishing point contact method to power):
Wherein, as shown in figure 3, FaFor FxWith FyBonding force, while be also contact normal pressure FcWith tangential grinding and polishing power Ff(mill
Throw the tangential power in contact point) bonding force,μ is contact normal pressure FcWith tangential grinding and polishing power FfBetween
Coefficient, obtained according to grinding and polishing Experimental Identification, generally 0.3；
S3 will contact normal pressure FcIt is compared to obtain power error with preset expectation contact force, be gone out according to power error calculation
It is tangential in x to location information and y to positional information calculation to go out bistrique according to bistrique in the rate controlling amount in contact force direction for bistrique
Rate controlling amount, wherein bistrique x is directly obtained by the encoder on servo motor to location information and y to location information；
Bistrique is specifically calculated in the rate controlling amount in contact force direction using following formula:
Firstly, comparing desired contact force and contact normal pressure FcIt obtains power error e (t):
E (t)=Fd-Fc
Wherein, FdIt is expected contact force, e (t) is power error；
Then, bistrique is calculated in the rate controlling amount in contact force direction:
Wherein, u1It (t) is rate controlling amount of the bistrique in contact force direction；KpFor proportionality coefficient, value range is in 0.005-
0.015；KiFor integral coefficient, value range is in 0.005-0.015；KdFor differential term coefficient, value 0；T is the time.
Bistrique tangential velocity control amount is specifically calculated using following formula:
Firstly, calculating bistrique tangential position error p (t):
P (t)=cos (α) × Yp-sin(α)×Xp
Wherein, XpLocation information for bistrique in the direction x, YpLocation information for bistrique in the direction y, p (t) location error；
Then, bistrique is calculated in the rate controlling amount in contact force direction:
Wherein, u2It (t) is rate controlling amount of the bistrique in contact force direction；KpFor proportionality coefficient, value range is in 0.01-
0.06；KiFor integral coefficient, value range is in 0.01-0.06；KdFor differential term coefficient, value 0；T is the time.
Rate controlling amount and tangential velocity control amount of the S4 by calculated bistrique in contact force direction pass through decoupling matrices
The x and y for decomposing to two degrees of freedom power control device are upward, obtain two degrees of freedom power control device x and y to rate controlling amount, specifically:
ux=cos (α) × u1(t)-sin(α)×u2(t)
uy=cos (α) × u1(t)+cos(α)×u2(t)
Wherein, uxIt is two degrees of freedom power control device x to rate controlling amount, uyIt is two degrees of freedom power control device y to speed control
Amount, u1It (t) is rate controlling amount of the bistrique in contact force direction, u2It (t) is the tangential velocity control amount of bistrique, α FxWith Fc's
Angle, θ is FxWith FaBetween angle, δ FcWith FaBetween
Angle；
S5 using two degrees of freedom power control device x and y to rate controlling amount realize two degrees of freedom power control device x and y to fortune
Dynamic control, and then tangentially (i.e. grinding and polishing contact point is tangential, F in Fig. 3 for realization bistriquefDirection) position with contact force while control
System so that the practical contact force of bistrique and part reaches desired contact force, i.e., for drive two degrees of freedom power control device along x to
Two servo motors 8 from y to movement corresponding x to and control of the y to rate controlling amount under moved, to adjust bistrique
Position and bistrique and part contact force so that the practical contact force of bistrique and part be equal to desired contact force, with this reality
Effective control of existing two degrees of freedom contact force.
Preferably, in order to guarantee force snesor test accuracy, contact force control before make force sensor in sky
Zeroing processing is carried out in the case of load, so that the power that force snesor measures in contact force control process is gravity and contact force
With joint efforts, guarantee that remaining power is power relevant to contact force after gravity compensation, guarantee the accuracy of contact force test.
Further, by power (the i.e. F after Gravity over compensationxAnd Fy) be compared with preset power, if gravity compensation
The absolute value of power later be greater than preset power, then stop bistrique movement, while by x in two degrees of freedom power control device to y to
Displacement (specific displacement is directly obtained by the encoder on servo motor) be compared with preset distance, if more than preset
Distance stops bistrique movement, to realize power overload protection and the protection of position overtravel, and then prevents the excessive damage of instantaneous force
Force snesor and prevent two-freedom-degree motion platform overtravel and stuck, wherein power overload protection (i.e. preset power) is according to power
The range of sensor is set, and position overtravel protects (i.e. preset distance) according to the travel settings of two-freedom-degree motion platform,
For example, preset power is 30N, work as FxOr FyGreater than 30N, then explanation may be more than force snesor range and damage force snesor,
Stop the movement of two degrees of freedom platform at this time, works as FxOr FyLess than or equal to 30N, then explanation does not exceed force snesor range, and at this time two
Freedom degree platform works normally；For example, preset distance is 20mm, when in two degrees of freedom power control device x to displacement or y to displacement
Greater than 20mm, illustrate two-freedom-degree motion platform may overtravel and it is stuck, stop the movement of two degrees of freedom platform at this time, when two from
It is less than or equal to 20mm to displacement or y to displacement from x in degree power control device, illustrates the row for not exceeding two-freedom-degree motion platform
Journey, two degrees of freedom platform works normally at this time.In addition, being filtered to the force signal in the both direction after Gravity over compensation
Wave processing, to filter out noise.
As shown in figure 4, the two degrees of freedom contact force control by taking the polishing of integral blade disk and polishing as an example, to integral blade disk grinding and polishing
Method processed is described in detail.
Firstly, the upper abrasive band circle of set on bistrique, robot control bistrique 5 protrude between integral blade disk type face 9, setting two is certainly
Contact that normal pressure is 5N and the initial value of α is when not in contact with workpiece by the expectation between degree power control device and integral blade disk type face 9
5.4rad, the threshold being arranged in power overload protection are 30N, and the threshold being arranged in the protection of position overtravel is 20mm；Not in contact with
Bistrique is moved to leaf dish type face 9 before leaf dish type face 9, and during which obliquity sensor 7 acquires two degrees of freedom power control device relative to generation
The angle variable quantity γ and β of boundary's coordinate system, the x that force snesor 3 acquires the two degrees of freedom power control device during grinding and polishing believe to power
Cease Fx1And y is to force information Fy1, the signal tested feeds back to controller, using acquired obliquity information to x to force information
Fx1And y is to force information Fy1Gravity compensation is carried out, contact normal pressure F is picked out according to contact normal pressure identification algorithmc；Expectation is connect
Touch is compared to obtain power error with the contact normal pressure picked out, later the power control by power error propagation into controller
Module goes out bistrique in the rate controlling amount in contact force direction according to power error calculation by power control algorithm；By two degrees of freedom power control
The displacement signal of two servo motors of device is transferred to the position control module in controller, calculates two freedom during grinding and polishing
Spend the 5 tangential velocity control amount of bistrique in power control device；Speed control of the controller according to calculated bistrique in contact force direction
Amount processed and tangential velocity control amount decompose to the movement side of two servo motors of two degrees of freedom power control device by decoupling matrices
Upwards, the rate control instruction as two servo motors controls while to realize to contact force with bistrique tangential position,
So that bistrique, it is expected that contact force is bonded with integral blade disk type face 9, then grinding head motor 4 is moved with certain revolving speed band rotary bistrique,
It is expected that contact force polishes leaf dish type face.Robot is with the path planned with two degrees of freedom power control device along entirety
Leaf dish type face 9 moves, during the motion by the control of contact force, so that bistrique merges holding perseverance with leaf dish type face paste always
Surely contact normal pressure carries out constant pressure polishing.
The present invention realizes the control of contact force in two degrees of freedom polishing processing by the decoupling of power position, can be realized two freely
When degree power control bistrique contact part to contact force with bistrique tangential position while control, guarantee the polishing processing mistake complied with of stabilization
Journey improves processing efficiency, and avoid workpiece caused by grinding and polishing power during grinding and polishing is excessive or grinding and polishing overlong time cross throwing,
The problems such as grinding and polishing is uneven is applicable to any two degrees of freedom power control device.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of two degrees of freedom grinding and polishing Study on Contact Force Control, which comprises the steps of:
S1 acquires the two degrees of freedom power control device for realizing grinding and polishing relative to the angle change information of world coordinate system and two
The x of freedom degree force control device is to force information Fx1And y is to force information Fy1；
S2 carries out gravity compensation to force information and y to force information to x according to angle change information, obtains compensated x and believes to power
Cease FxAnd y is to force information Fy, according to FxAnd FyContact normal pressure F is calculatedc；
S3 will contact normal pressure FcIt is compared to obtain power error with preset expectation contact force, bistrique is gone out according to power error calculation
Rate controlling amount in contact force direction goes out bistrique tangential velocity to location information and y to positional information calculation in x according to bistrique
Control amount；
Rate controlling amount and tangential velocity control amount of the S4 by calculated bistrique in contact force direction are decomposed by decoupling matrices
X and y to two degrees of freedom power control device is upward, obtains two degrees of freedom power control device x and y to rate controlling amount；
S5 using two degrees of freedom power control device x and y to rate controlling amount realize two degrees of freedom power control device x and y to movement control
System, so that the practical contact force of bistrique and part reaches desired contact force.
2. two degrees of freedom grinding and polishing Study on Contact Force Control as described in claim 1, which is characterized in that specifically in the following way
Carry out gravity compensation:
(1) calculate two degrees of freedom power control device x to and y to compensation rate:
Fx2=G0×sin(γ)
Fy2=G0×cos(γ)cos(β)
Wherein, Fx2For two degrees of freedom power control device x to compensation rate, Fy2For two degrees of freedom power control device y to compensation rate, G0For
The gravity of the grinding head motor and bistrique that are connected with force snesor, γ are two degrees of freedom power control device relative to world coordinate system X-axis
Rotation angle, β be rotation angle of the two degrees of freedom power control device relative to world coordinate system Y-axis；
(2) compensated x is calculated to force information FxAnd y is to force information Fy:
Fx=Fx1-Fx2
Fy=Fy1-Fy2。
3. two degrees of freedom grinding and polishing Study on Contact Force Control as claimed in claim 1 or 2, which is characterized in that contact normal pressure FcIt adopts
It is calculated with following formula:
Wherein,μ is contact normal pressure FcWith tangential grinding and polishing power FfBetween coefficient.
4. two degrees of freedom grinding and polishing Study on Contact Force Control as described in claim 1, which is characterized in that specifically use following formula
Bistrique is calculated in the rate controlling amount in contact force direction:
Wherein, u1It (t) is rate controlling amount of the bistrique in contact force direction, KpFor proportionality coefficient, KiFor integral coefficient, KdFor differential
Term coefficient, e (t) are power error, e (t)=expectation contact force FdContact normal pressure Fc, t is the time.
5. two degrees of freedom grinding and polishing Study on Contact Force Control as described in claim 1, which is characterized in that specifically use following formula
Calculate bistrique tangential velocity control amount:
Wherein, u2It (t) is bistrique tangential velocity control amount, KpFor proportionality coefficient, KiFor integral coefficient, KdFor differential term coefficient, p
(t) location error, p (t)=cos (α) × Yp-sin(α)×Xp, XpLocation information for bistrique in the direction x, YpIt is bistrique in y
The location information in direction, t are time, α FxWith FcAngle.
6. two degrees of freedom grinding and polishing Study on Contact Force Control as described in claim 1, which is characterized in that calculated bistrique exists
The rate controlling amount in contact force direction and tangential velocity control amount by decoupling matrices decompose to two degrees of freedom power control device x and
Y obtains two degrees of freedom power control device x and y to rate controlling amount upwards, specifically:
ux=cos (α) × u1(t)-sin(α)×u2(t)
uy=cos (α) × u1(t)+cos(α)×u2(t)
Wherein, uxIt is x to rate controlling amount, uyIt is y to rate controlling amount, u1(t) speed control for bistrique in contact force direction
Amount, u2It (t) is the tangential velocity control amount of bistrique, α FxWith FcAngle.
7. two degrees of freedom grinding and polishing Study on Contact Force Control as described in claim 1, which is characterized in that α uses following formula meter
It calculates:
8. two degrees of freedom grinding and polishing Study on Contact Force Control as described in claim 1, which is characterized in that after Gravity over compensation
Power is compared with preset power, if the absolute value of the power after gravity compensation is greater than preset power, stops two degrees of freedom power control
Device movement；Simultaneously by the x of two degrees of freedom power control device to or y to displacement information be compared with preset distance, if greatly
In preset distance, then stop the movement of two degrees of freedom power control device.
9. a kind of two degrees of freedom grinding and polishing contacts Force control system characterized by comprising
Information acquisition module, for acquiring two degrees of freedom power control device relative to the angle change information of world coordinate system and two
The x of freedom degree force control device is to force information Fx1And y is to force information Fy1；
Gravity compensation module is obtained for carrying out gravity compensation to force information and y to force information to x according to angle change information
Compensated x is to force information FxAnd y is to force information Fy；
Contact normal pressure computing module, for according to compensated x to force information FxAnd y is to force information FyContact is calculated just
Pressure Fc；
Power control module, for normal pressure F will to be contactedcIt is compared to obtain power error with preset expectation contact force, and according to power
Error calculation goes out bistrique in the rate controlling amount in contact force direction；
Position control module, for going out the control of bistrique tangential velocity to location information and y to positional information calculation in x according to bistrique
Amount；
Power position decoupling module is led to for the rate controlling amount by calculated bistrique in contact force direction with tangential velocity control amount
Cross decoupling matrices decompose to two degrees of freedom power control device x and y it is upward, obtain two degrees of freedom power control device x and y to speed control
Amount；
Two parameter compensator module, for realizing the control of two degrees of freedom power to rate controlling amount using two degrees of freedom power control device x and y
Device x and y to motion control so that the practical contact force of bistrique and part reaches desired contact force.
10. two degrees of freedom grinding and polishing as claimed in claim 9 contacts Force control system, which is characterized in that further include overload protection
Module and overtravel protective module, wherein overload protection module is for comparing the power after gravity compensation with preset power
Compared with, and the absolute value of the power after gravity compensation be greater than preset power when, stop two degrees of freedom power control device movement；Overtravel
Protective module be used for by the x of two degrees of freedom power control device to or y to displacement information be compared with preset distance, and in place
Move information be greater than it is preset apart from when, stop two degrees of freedom power control device movement.
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| CN115008344B (en) * | 2022-06-08 | 2024-05-03 | 中国科学院宁波材料技术与工程研究所 | Robot tail end constant force floating device and polishing system |
| CN118123642A (en) * | 2024-05-07 | 2024-06-04 | 华中科技大学 | Two-degree-of-freedom rigid-flexible coupling polishing force control device and decoupling control method thereof |
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