| 邬铭铭,$2,$2,$2,杨 能,$2.被动腕关节曲面跟踪的模糊柔顺控制[J].轻工机械,2011,29(2): |
| 被动腕关节曲面跟踪的模糊柔顺控制 |
| Fuzzy Compliance Control of the Passive Wrist on Curved Surfaces Tracking |
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| DOI： |
| 中文关键词: 金属加工 被动腕关节 柔顺控制 模糊PID 虚拟仪器 |
| 英文关键词:metal processing passive wrist compliant control fuzzyPID virtual instrument |
| 基金项目: |
| 邬铭铭 $2 $2 $2 杨 能 $2 |
| 浙江春晖智能控制股份有限公司 |
| 摘要点击次数: 1854 |
| 全文下载次数: 110 |
| 中文摘要: |
| 介绍了一种利用被动腕关节的曲面柔顺研抛工具系统的结构原理，阐述了利用弹性适应体与直线步进电机的系统力控制方案，通过将力/位混合空间解耦，在独立的力空间对法向力进行主动控制。建立了力控制系统模型。采用模糊PID控制算法对控制参数进行实时整定，利用Simulink对控制系统性能进行了仿真实验。使用LabVIEW编制了控制系统软件，并结合一种自由曲面形状工件进行了法向力控制实验。仿真和实验结果均表明系统动态特性良好，对法向力的控制效果较好。 |
| 英文摘要: |
| The configuration principle of compliantce polishing tool system utilized by the passive wrist was introduced. The system force cntrol scenario using the spring and linear stepping motor was expounded, through decoupling force/position hybrid space to actively control the normal force in independent force space. After the force control system model was set up, using fuzzy-PID control algorithm to carry out real-time adjustment, and using Simulink to proceed simulation experiment of control system performance, using LabVIEW programed control system software，and combining a kind of free curved surface working element to proceed normal force control experiment. Both the simulation and experiment results indicate that the system presents the fine dynamic character and good control effects on the normal force. |
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