CN115922533A - Pneumatic polishing force control device and control method - Google Patents
Pneumatic polishing force control device and control method Download PDFInfo
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Abstract
The invention belongs to the technical field of polishing processing, and discloses a pneumatic polishing force control device and a control method. The force sensor measures the axial contact force in the polishing process; the tilt angle sensor measures the real-time attitude of the force control device; the force control module controls contact force through the double-acting air cylinder and the electric proportional valve; the transmission module restrains the movement direction of the polishing tool in the axial direction; the control platform obtains a correction voltage signal through calculation according to the collected signal, and the electric proportional valve controls the air pressure of two air cavities of the double-acting air cylinder according to the correction voltage signal so as to control the output force of the force control device. The invention controls the output force of the device by controlling the air pressure difference between the rod cavity and the rodless cavity of the air cylinder, thereby enabling the air cylinder to work in the optimal air pressure range all the time, having the gravity compensation function, finally realizing constant force control by adopting a fuzzy PID control algorithm with high response speed and strong robustness, and ensuring the consistency and uniformity of material removal in the polishing process.
Description
Technical Field
The invention relates to the technical field of polishing processing, in particular to a pneumatic polishing force control device and a control method.
Background
The large-scale complex curved surface is more and more widely applied in the fields of aerospace, automobiles, ships, energy power and the like, and has high requirements on the surface quality. At present, equipment such as robots and numerical control machines can be used for polishing, so that the processing efficiency is improved, the cost is reduced, and the working environment of workers is improved. However, in order to ensure the uniformity and uniformity of material removal during the polishing process, the contact force between the polishing tool and the workpiece during the polishing process needs to be controlled, but the precise control of the contact force cannot be achieved by the position control of the equipment alone, so that it is necessary to install a force control device at the end of a robot or the end of a spindle of a numerical control machine. In addition, the force control device can also compensate the machining path deviation, the repeated positioning error and the workpiece clamping error in a self-adaptive manner, so that the polishing quality and the flexibility of the complex curved surface part are ensured.
Currently, force control devices are mainly classified into electric, electromagnetic, and pneumatic force control devices according to driving modes. The pneumatic force control device mostly uses an air cylinder as a driving element, has the advantages of simple control, good flexibility, low cost and good volume, and is applied to the existing force control device. Pneumatic force control devices currently available as commercial products include ACF from Ferrobotics, austria, ATI from PushCorp, USA, and still Xpolish from Stell, china. Most of the current pneumatic force control device commercial products, CN209380743U (a robot arm constant force control device), CN111136543B (a grinding and polishing force control end execution device), CN105234807A (a force control flange and polishing method for polishing operation of an industrial robot), and CN111571442A (a control method, device and system for a pneumatic adaptive constant force device), control the output force of a force control actuator by controlling the air pressure of a single air cavity of an air cylinder. On the other hand, for the polishing of a complex curved surface part, the air pressure of a single air cavity of the air cylinder is simply controlled, so that the air cylinder cannot always work in the optimal working air pressure range, and the force control precision and the response time are influenced. In addition, most of the existing force control devices do not have the gravity compensation function, so that the dead weight of a polishing tool has great influence on the accurate control of the contact force in the process of polishing complex curved surface parts. In summary, in order to achieve high-quality polishing of complex curved surface parts, it is necessary to develop a force control device which uses a double-acting cylinder as a driving element and has a gravity compensation function, a relatively simple structure, low cost and good performance.
Disclosure of Invention
The invention provides a pneumatic polishing force control device and a control method aiming at solving the defects and problems of the existing pneumatic polishing technology, and aims to accurately control the contact force between a polishing tool and a processed surface in the polishing process so as to ensure the polishing efficiency and the surface quality.
Different from the existing pneumatic force control device, the device adopts a double-acting air cylinder as a driving element, two electric proportional valves respectively control the air pressure of two cavities of a rod cavity and a rodless cavity of the air cylinder, and the output force of the device is controlled through the air pressure difference of the two cavities, so that on one hand, the air cylinder is not limited by the lowest working air pressure, and the small polishing force can be controlled. On the other hand, the air cylinder can be always operated in the optimal air pressure range, so that the response speed and the force control accuracy of the air cylinder are improved. Meanwhile, the spatial pose of the pneumatic polishing force control device in the polishing process is measured by using the tilt angle sensor, and the influence of the gravity of the polishing tool on the contact force is obtained through spatial coordinate transformation calculation, so that the influence of the gravity on the force control precision is eliminated through gravity compensation. In addition, the pneumatic polishing force control device adopts a parallel fuzzy PID control algorithm, so that a steady-state error generated when fuzzy control is applied is eliminated, the defects existing when PID control is applied to an unsteady system are overcome, and the force control precision and the response speed and robustness of a control system are improved.
The technical scheme of the invention is as follows: a pneumatic polishing force control device comprises an end cover 1, a shell 2, an inclination angle sensor 4, a force sensor 9, a force control module, a transmission module, a data acquisition card and a control platform; the end cover 1 is fixedly connected with the end part of the inverted-U-shaped shell 2 to form a closed structure; the transmission module, the inclination angle sensor 4 and the force control module are all fixed in the closed structure;
the tilt angle sensor 4 is fixed on the end cover 1, the central axis of the tilt angle sensor is parallel to the central axis of the pneumatic polishing force control device, and the tilt angle sensor is used for measuring the real-time space pose of the pneumatic polishing force control device in the polishing process so as to perform gravity compensation;
the force control module comprises a double-acting air cylinder 15, a floating joint 12, an electric proportional valve a5 and an electric proportional valve b16; one end of a double-acting cylinder 15 is connected with the end cover 1, and the other end of the double-acting cylinder is connected with a ball spline connecting plate 11 through a floating joint 12; the electric proportional valve a5 and the electric proportional valve b16 are respectively fixed on the end cover 1; the air outlet of the electric proportional valve a5 is connected with the air inlet of the rodless cavity of the double-acting cylinder 15 through an air pipe, and the air outlet of the electric proportional valve b16 is connected with the air inlet of the rod cavity of the double-acting cylinder 15 through an air pipe; the two electric proportional valves control the opening of the valve port to output corresponding air pressure to the double-acting air cylinder 15 according to the voltage signal;
the transmission module is used for limiting the movement of the polishing tool in the axial direction of the pneumatic polishing force control device and comprises a guide device 14, a ball spline, an expansion sleeve 7, a ball spline connecting plate 11 and a force sensor mounting plate 10; the ball spline comprises a ball spline shaft 6 and a ball spline housing 13 which are connected in sequence; one end of the guide device 14 is arranged on the end cover 1, and the other end of the guide device is sequentially connected with the ball spline housing 13, the ball spline shaft 6, the expansion sleeve 7, the ball spline connecting plate 11 and the force sensor mounting plate 10; the positioning block 61 is mounted on the ball spline shaft 6, is positioned between the guide device 14 and the ball spline housing 13, and is used for preventing the ball spline shaft 6 from exceeding the movement range when the output pressure of the pneumatic polishing force control device exceeds a threshold value;
one end of the force sensor 9 is fixed on the force sensor mounting plate 10 and is connected with the lower end of the transmission module, and the other end of the force sensor is connected with the tool connecting flange 8 and is used for measuring the axial contact force in the polishing process; and the data is transmitted to a control platform through a data acquisition card, and finally the control of the contact force is realized.
The force sensor 9 and the tilt sensor 4 are sequentially connected to the data acquisition card and the control platform, and data are transmitted to the control platform through the data acquisition card, so that control of contact force and gravity compensation is finally realized;
the tool connecting flange 8 is connected with the polishing tool through the closed structure; the tool connecting flange 8 is detachable, and the structure of the tool connecting flange can be properly adjusted according to different polishing tools.
The control platform calculates according to a fuzzy PID control algorithm to obtain a correction voltage signal, and the two electric proportional valves control the air pressures of the two air cavities of the double-acting air cylinder 15 according to the correction voltage signal so as to control the output force of the pneumatic polishing force control device.
The inclination angle sensor 4 is fixed on the inclination angle sensor mounting plate 3, and the inclination angle sensor mounting plate 3 is vertically mounted at the lower end of the end cover 1; the tilt angle sensor 4 is used for measuring the real-time space pose of the pneumatic polishing force control device in the polishing process, so that gravity compensation is performed.
A method of controlling a pneumatic polishing force control apparatus, comprising:
collecting real-time contact force data and pose data of the pneumatic polishing force control device during working;
real-time contact force data and pose data are transmitted to a control platform through a data acquisition card; the real-time contact force data is obtained by calculation through a gravity compensation algorithm according to a voltage signal acquired by the force sensor 9; the pose data are obtained according to digital signals acquired by the tilt angle sensor 4;
the control platform calculates according to a fuzzy PID control algorithm to obtain an output voltage signal;
the two electric proportional valves regulate the air pressure of the rodless cavity and the rod cavity of the double-acting air cylinder 15 by controlling the opening size of a valve port according to a voltage signal output by the control platform; the double-acting cylinder 15 generates output force through the air pressure difference between the rodless cavity and the rod cavity;
the control platform continuously receives real-time contact force data and pose data and continuously outputs a correction voltage signal; the two electric proportional valves continuously adjust the output force of the double-acting air cylinder 15, and finally the contact force meets the tolerance requirement of a target value, so that the output force of the pneumatic polishing force control device is controlled.
The gravity compensation algorithm is obtained by performing space coordinate transformation calculation on pose data according to an RPY angle calculation method.
The specific flow of controlling the output force of the pneumatic polishing force control device is as follows:
the target value F is given before the polishing starts 0 Target value F 0 And contact force F n The error value e and the error change rate ec are obtained through comparison calculation, and the control platform obtains an output voltage signal u through calculation according to a fuzzy PID control algorithm; the two electric proportional valves control the opening degree of the valve port to output corresponding air pressure p to the double-acting air cylinder 15 according to the voltage signal u, the double-acting air cylinder 15 converts the air pressure into force output, the force sensor 9 and the inclination angle sensor 4 acquire signals again, and the feedback contact force F is obtained through gravity compensation calculation n Contact force F of feedback n And a target value F 0 Comparing and calculating to obtain error value and error change rate, controlling platform to make next regulation, and continuously regulating to finally make contact force F n Satisfies the target value F 0 So as to realize the control of the output force of the force control actuator.
The fuzzy PID control algorithm specifically comprises the following steps:
step 1, performing gravity compensation calculation on signals acquired by a force sensor 9 to obtain a real-time contact force F n ；
Step 2, target value F 0 Contact force F with real time n Comparing and calculating to obtain a current error value e and a current error change rate ec;
step 3, fuzzifying the accurate values of the variables E and EC of the fuzzy controller input into the control platform to respectively obtain corresponding fuzzy quantities E and EC;
Step 5, fuzzy control quantity U 1 Defuzzification is carried out to obtain accurate control quantity u 1 ；
And 6, carrying out linear combination of proportion, integral and differential on the error value e input into the PID controller in the control platform to obtain a controlled variable u 2 ；
The invention has the beneficial effects that:
(1) In the pneumatic polishing force control device provided by the invention, the force control module uses a double-acting air cylinder as a driving element, two electric proportional valves respectively control the air pressure of a rod cavity and a rodless cavity of the air cylinder, and the output force of the device is controlled by the air pressure difference of the two cavities, so that on one hand, the air cylinder is not limited by the lowest working air pressure, and the small polishing force can be controlled. On the other hand, the air cylinder can be always operated in the optimal air pressure range, so that the response speed and the force control accuracy of the air cylinder are improved.
(2) The pneumatic polishing force control device provided by the invention adopts the tilt angle sensor to measure the spatial pose of the force control device in the polishing process in real time, and the influence of the gravity of the polishing tool on the contact force is calculated through spatial coordinate transformation, so that the gravity compensation is carried out, the influence of the gravity on the force control is eliminated, and the force control precision is finally improved.
(3) The control method of the pneumatic polishing force control device provided by the invention adopts a parallel fuzzy PID control algorithm, can eliminate the steady-state error generated when the fuzzy control is applied, can make up the defects of the PID control when the PID control is applied to an unsteady system, and improves the force control precision and the response speed and robustness of the control system.
Drawings
FIG. 1 is a schematic diagram of a control system for a pneumatic polishing force control device in an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a pneumatic polishing force control device in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a pneumatic polishing force control apparatus according to an embodiment of the present invention; the direction of view is the side view direction of fig. 2;
FIG. 4 is a side cross-sectional view of FIG. 2;
FIG. 5 is a schematic diagram of a ball spline assembly in a pneumatic polishing force control device in accordance with an embodiment of the present invention;
fig. 6 is a schematic diagram of a method for controlling a pneumatic polishing force control device according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a fuzzy PID control algorithm in a control method of a pneumatic polishing force control apparatus according to an embodiment of the present invention.
In the figure: 1-an end cover, 2-a shell, 3-a tilt angle sensor mounting plate, 4-a tilt angle sensor, 5-an electric proportional valve a, 6-a ball spline shaft, 61-a positioning block, 7-an expansion sleeve, 8-a tool connecting flange, 9-a force sensor, 10-a force sensor mounting plate, 11-a ball spline connecting plate, 12-a floating joint, 13-a ball spline sleeve, 14-a guiding device, 15-a double-acting air cylinder and 16-an electric proportional valve b.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 4, an embodiment of the present invention provides a pneumatic polishing force control device, which includes an end cap 1, a housing 2, a tilt sensor 4, a force sensor 9, a force control module, a transmission module, a tool connection flange 8, a data acquisition card, and a control platform.
The end cover 1 is fixedly connected with the transmission module, the tilt angle sensor mounting plate 3, the double-acting air cylinder 15, the electric proportional valve and the shell 2 through threads;
the shell 2 is connected with the end cover 1 through screws, and an elliptical hole is formed in a proper position close to the lower end of the shell and used for leading out a signal wire and a power wire of the force sensor 9, the inclination angle sensor 4, the electric proportional valve a5 and the electric proportional valve b16 and respectively connecting the signal wire and the power wire with a data acquisition card and a power supply.
The inclination angle sensor 4 is fixed on the end cover 1 through the inclination angle sensor mounting plate 3 and is used for measuring the real-time space pose of the pneumatic polishing force control device in the polishing process, and then calculating the influence of the gravity of the polishing tool on the contact force through space coordinate transformation, so that gravity compensation is carried out, and the influence of the gravity on force control is eliminated;
the upper end of the force sensor 9 is connected with a force sensor mounting plate 10 of the transmission module through a screw, the lower end of the force sensor is connected with a polishing tool connecting flange through a screw, the force sensor 9 adopts a three-way strain type force sensor and is used for measuring the axial contact force in the polishing processing process and transmitting the data to a control platform through a data acquisition card, and finally the control of the contact force is realized.
The force control module comprises a double-acting air cylinder 15, a floating joint 12, an electric proportional valve a5 and an electric proportional valve b16; the double-acting cylinder is sequentially connected with an electric proportional valve a5, an electric proportional valve b16 and an air compressor through an air pipe, is connected with the end cover 1 through a tail thread, and is connected with the floating joint 12 through a head thread of a cylinder piston, the double-acting cylinder 15 is provided with a rodless cavity and a rod cavity, the rodless cavity outputs pressure, and the rod cavity outputs tension; the floating joint 12 is connected with the ball spline connecting plate 11 through threaded connection, the floating joint 12 can solve the problems of cylinder eccentricity, poor balance precision and the like, and can reduce the abrasion of a cylinder piston and prolong the service life of the cylinder; the electric proportional valve a5 and the electric proportional valve b16 are installed on the end cover 1 through threads, and can control the air pressure of a rodless cavity and a rod cavity of the double-acting air cylinder 15, so that the output force of the air cylinder is controlled.
Referring to fig. 5, the transmission module includes a guide device 14, a ball spline shaft 6, a ball spline housing 13, a positioning block 61, an expansion housing 7, a ball spline connection plate 11, and a force sensor mounting plate 10; the guide device 14 is arranged at the lower end of the end cover 1 through a screw, and the lower end of the guide device is connected with the ball spline housing 13 through a screw; the positioning block 61 is mounted at the upper end of the ball spline shaft 6 through a screw, and the positioning block 61 can prevent the ball spline shaft 6 from exceeding the movement range when the output pressure of the device is too high; the ball spline shaft 6 and the ball spline housing 13 are used in a matching way; the ball spline shaft 6 is connected with the ball spline connecting plate 11 through the expansion sleeve 7, the expansion sleeve 7 is connected to realize key-free connection, and the performance is reliable; the force sensor mounting plate 10 is connected with the ball spline connecting plate 11 through a screw;
the tool connecting flange 8 is connected with the force sensor 9 through screws, the tool connecting flange 8 is detachable, and the structure of the tool connecting flange can be properly adjusted according to different polishing tools.
The signal lines of the tilt angle sensor 4, the electric proportional valve a5, the electric proportional valve b16 and the force sensor 9 are connected with an I/O interface of a data acquisition card for signal transmission, and the data acquisition card and the control platform carry out signal transmission through a USB line.
Fig. 6 is a schematic diagram of a control method of a pneumatic polishing force control device in an embodiment of the present invention, and the control method of the pneumatic polishing force control device includes: first a target value F is given before polishing begins 0 Target value F 0 And contact force F n The two are compared and calculated to obtain an error value e and an error change rate ec, according to a fuzzy PID control algorithm, the control platform obtains an output voltage signal u through calculation, the electric proportional valve controls the opening degree of a valve port to output corresponding air pressure p to the double-acting air cylinder 15 according to the voltage signal u, the double-acting air cylinder 15 converts the air pressure into force output, the force sensor 9 and the inclination angle sensor 4 acquire signals again, and a feedback contact force F is obtained through gravity compensation calculation n Contact force F of feedback n And a target value F 0 Comparing and calculating to obtain error value and error change rate, controlling platform to make next regulation, and continuously regulating to finally make contact force F n Satisfies the target value F 0 So as to realize the control of the output force of the force control actuator.
Fig. 7 is a schematic diagram of a fuzzy PID control algorithm in a control method of a pneumatic polishing force control apparatus according to an embodiment of the present invention, which includes:
(1) Performing gravity compensation calculation on the signal acquired by the force sensor 9 to obtain a real-time contact force F n 。
(2) Target value F 0 Contact force F with real time n Comparing and calculating to obtain a current error value e and a current errorThe difference rate of change ec.
(3) And (3) fuzzifying the accurate values of the variables E and EC of the fuzzy controller input into the control platform to respectively obtain corresponding fuzzy quantities E and EC.
(4) According to the fuzzy control rule, the fuzzy control quantity U is calculated by synthesizing the fuzzy quantity E and EC according to fuzzy reasoning 1 。
(5) Will fuzzy control quantity U 1 Defuzzification is carried out to obtain accurate control quantity u 1 。
(6) The error value e input to the PID controller in the control platform is subjected to linear combination of proportion, integral and differentiation to obtain a control quantity u 2 。
(7) Output value u of the fuzzy controller 1 With the output value u of the PID controller 2 The added output value u is the voltage value output to the electric proportional valve.
Next, the operation of the pneumatic polishing force control apparatus will be described in detail.
Firstly, the pneumatic polishing force control device is arranged at the tail end of a robot or the tail end of a main shaft of a numerical control machine tool, and a pneumatic polishing tool is arranged on a tool connecting flange 8 of the pneumatic polishing force control device; then according to the process requirement of the processed workpiece, setting a target value of the contact force during polishing on the control platform, and operating a program of a fuzzy PID control algorithm, wherein the control platform outputs control signals to the two electric proportional valves a5 and b16, and respectively presets an air pressure value, so that the double-acting air cylinder 15 generates a certain tension between the end cover 1 and the polishing tool; and then, the robot or the numerical control machine moves according to the planned processing track, the polishing tool moves on the surface of the workpiece under the driving of the robot or the numerical control machine, at the moment, the force sensor 9 and the inclination angle sensor 4 transmit the acquired signals to the control platform through the data acquisition card, and the magnitude of the real-time contact force is obtained through gravity compensation calculation. The target value and the real-time contact force are compared and calculated to obtain an error value and an error change rate, the control platform obtains a correction voltage signal through calculation according to a fuzzy PID control algorithm, the electric proportional valve a5 and the electric proportional valve b16 control the opening degree of a valve port to output corresponding air pressure to two air cavities of the double-acting cylinder 15 according to the correction voltage signal, and the double-acting cylinder 15 generates output force through the air pressure difference between the rodless cavity and the rod cavity. And then, the force sensor 9 and the inclination angle sensor 4 acquire signals again, the fed-back real-time contact force is obtained through gravity compensation calculation, the fed-back real-time contact force and a target value are compared and calculated to obtain an error value and an error change rate, the control platform performs next adjustment, and finally the contact force meets the tolerance requirement of the target value through continuous adjustment, so that the control of the output force of the force control device is realized.
Claims (5)
1. A pneumatic polishing force control device is characterized by comprising an end cover (1), a shell (2), an inclination angle sensor (4), a force sensor (9), a force control module, a transmission module, a data acquisition card and a control platform; the end cover (1) is fixedly connected with the end part of the inverted-U-shaped shell (2) to form a closed structure; the transmission module, the inclination angle sensor (4) and the force control module are all fixed in the closed structure;
the tilt angle sensor (4) is fixed on the end cover (1), the central axis of the tilt angle sensor is parallel to the central axis of the pneumatic polishing force control device, and the tilt angle sensor is used for measuring the real-time spatial pose of the pneumatic polishing force control device in the polishing process so as to perform gravity compensation;
the force control module comprises a double-acting cylinder (15), a floating joint (12), an electric proportional valve a (5) and an electric proportional valve b (16); one end of a double-acting cylinder (15) is connected with the end cover (1), and the other end of the double-acting cylinder is connected with a ball spline connecting plate (11) through a floating joint (12); the electric proportional valve a (5) and the electric proportional valve b (16) are respectively fixed on the end cover (1); the air outlet of the electric proportional valve a (5) is connected with the air inlet of the rodless cavity of the double-acting cylinder (15) through an air pipe, and the air outlet of the electric proportional valve b (16) is connected with the air inlet of the rod cavity of the double-acting cylinder (15) through an air pipe; the two electric proportional valves control the opening of the valve port to output corresponding air pressure to the double-acting cylinder (15) according to the voltage signal;
the transmission module is used for limiting the movement of the polishing tool in the axial direction of the pneumatic polishing force control device and comprises a guide device (14), a ball spline, an expansion sleeve (7), a ball spline connecting plate (11) and a force sensor mounting plate (10); the ball spline comprises a ball spline shaft (6) and a ball spline sleeve (13) which are connected in sequence; one end of the guide device (14) is installed on the end cover (1), and the other end of the guide device is sequentially connected with the ball spline housing (13), the ball spline shaft (6), the expansion sleeve (7), the ball spline connecting plate (11) and the force sensor mounting plate (10); the positioning block (61) is arranged on the ball spline shaft (6) and is positioned between the guide device (14) and the ball spline sleeve (13) and used for preventing the ball spline shaft (6) from exceeding the motion range when the output pressure of the pneumatic polishing force control device exceeds a threshold value;
one end of the force sensor (9) is fixed on the force sensor mounting plate (10), and the other end of the force sensor is connected with the tool connecting flange (8) and used for measuring the axial contact force in the polishing process;
the force sensor (9) and the tilt sensor (4) are sequentially connected to the data acquisition card and the control platform, and data are transmitted to the control platform through the data acquisition card, so that control of contact force and gravity compensation is finally realized;
the tool connecting flange (8) penetrates through the closed structure to be connected with the polishing tool;
the control platform calculates according to a fuzzy PID control algorithm to obtain a correction voltage signal, and the two electric proportional valves control the air pressures of the two air cavities of the double-acting air cylinder (15) according to the correction voltage signal, so that the output force of the pneumatic polishing force control device is controlled.
2. A method of controlling a pneumatic polishing force control apparatus, comprising:
collecting real-time contact force data and pose data of the pneumatic polishing force control device during working;
real-time contact force data and pose data are transmitted to a control platform through a data acquisition card; the real-time contact force data is obtained by calculation through a gravity compensation algorithm according to voltage signals acquired by a force sensor (9); the pose data are obtained according to digital signals collected by the tilt angle sensor (4);
the control platform calculates according to a fuzzy PID control algorithm to obtain an output voltage signal;
the two electric proportional valves adjust the air pressure of a rodless cavity and a rod cavity of the double-acting air cylinder (15) according to the voltage signal output by the control platform; the double-acting cylinder (15) generates output force through the air pressure difference between the rodless cavity and the rod cavity;
the control platform continuously receives real-time contact force data and pose data and continuously outputs a correction voltage signal; the two electric proportional valves continuously adjust the output force of the double-acting air cylinder (15), and finally the contact force meets the tolerance requirement of a target value, so that the output force of the pneumatic polishing force control device is controlled.
3. The control method of a pneumatic polishing force control device according to claim 2, wherein the gravity compensation algorithm is calculated from pose data by spatial coordinate transformation according to an RPY angle calculation method.
4. The method for controlling the pneumatic polishing force control device according to claim 2, wherein the specific flow of controlling the output force of the pneumatic polishing force control device is as follows:
the target value F is given before the polishing starts 0 Target value F 0 And contact force F n The error value e and the error change rate ec are obtained through comparison calculation, and the control platform obtains an output voltage signal u through calculation according to a fuzzy PID control algorithm; the two electric proportional valves control the opening degree of the valve port to output corresponding air pressure p to the double-acting air cylinder (15) according to the voltage signal u, the double-acting air cylinder (15) converts the air pressure into force output, the force sensor (9) and the inclination angle sensor (4) acquire signals again, and the feedback contact force F is obtained through gravity compensation calculation n Contact force F of feedback n And a target value F 0 Comparing and calculating to obtain error value and error change rate, controlling platform to make next regulation, and continuously regulating to finally make contact force F n Satisfies the target value F 0 So as to realize the control of the output force of the force control actuator.
5. The control method of a pneumatic polishing force control apparatus according to claim 4, wherein the fuzzy PID control algorithm is specifically:
step 1, performing gravity compensation calculation on signals acquired by a force sensor (9) to obtain a real-time contact force F n ；
Step 2, target value F 0 Contact force F with real time n Comparing and calculating to obtain a current error value e and a current error change rate ec;
step 3, fuzzifying the accurate values of the variables E and EC of the fuzzy controller in the input control platform to respectively obtain corresponding fuzzy quantities E and EC;
step 4, according to the fuzzy control rule, combining the fuzzy quantity E and EC according to fuzzy reasoning to calculate the fuzzy control quantity U 1 ；
Step 5, fuzzy control quantity U 1 Defuzzification is carried out to obtain accurate control quantity u 1 ；
And 6, carrying out linear combination of proportion, integral and differential on the error value e input into the PID controller in the control platform to obtain a controlled variable u 2 ；
Step 7, output value u of fuzzy controller 1 With the output value u of the PID controller 2 The added output value u is the voltage value output to the electric proportional valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310008595.4A CN115922533A (en) | 2023-01-04 | 2023-01-04 | Pneumatic polishing force control device and control method |
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