To solve the problems of inaccurate modeling of the end-effector pneumatic system and poor stability of grinding force caused by external environment interference during grinding of aluminium alloy wheel hub,a hybrid control strategy of MRAC+PID was proposed to achieve tracking control of grinding force.Firstly,the end-effector was modeled and analyzed.Then,the MRAC+PID control strategy was used to control the end-effector,in which the adaptive control law was designed by constructing the Lyapunov function.Finally,the effectiveness of the proposed method was verified by simulation and experiment.The results show that MRAC+PID has good control performance in improving the response speed and anti-interference of the system,which can track the desired grinding force quickly and accurately and improve the surface grinding quality of aluminum alloy wheel hub.
关键词
机器人打磨/铝合金轮毂/MRAC+PID控制/打磨力控制
Key words
robot grinding/aluminum alloy wheel hub/MRAC+PID control/grinding force control
维普
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