Grinding control of rotary shell&prime;s inner-surface with dynamics uncertainties

WANG Fei; LUO Zhong; LIU Hong-yi

doi:10.3788/OPE.20132106.1479

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Grinding control of rotary shell′s inner-surface with dynamics uncertainties

更新时间：2020-08-12

- Grinding control of rotary shell′s inner-surface with dynamics uncertainties
- Optics and Precision Engineering Vol. 21, Issue 6, Pages: 1479-1487(2013)
- 作者机构：
  
  东北大学机械工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20132106.1479
  CLC： TN249;TP242.6
- Received：25 December 2012，
  
  Revised：05 February 2013，
  
  Published Online：20 June 2013，
  
  Published：15 June 2013
- 稿件说明：
移动端阅览
王菲罗忠柳洪义. 形位不确定回转腔体内壁表面的打磨[J]. 光学精密工程, 2013,21(6): 1479-1487

WANG Fei LUO Zhong LIU Hong-yi. Grinding control of rotary shell′s inner-surface with dynamics uncertainties[J]. Editorial Office of Optics and Precision Engineering, 2013,21(6): 1479-1487
王菲罗忠柳洪义. 形位不确定回转腔体内壁表面的打磨[J]. 光学精密工程, 2013,21(6): 1479-1487 DOI： 10.3788/OPE.20132106.1479.

WANG Fei LUO Zhong LIU Hong-yi. Grinding control of rotary shell′s inner-surface with dynamics uncertainties[J]. Editorial Office of Optics and Precision Engineering, 2013,21(6): 1479-1487 DOI： 10.3788/OPE.20132106.1479.

摘要

提出一种基于逆向工程和阻抗力控制的打磨方法来实现形位、刚度不确定回转腔体内壁表面的精确打磨操作。采用准在线激光测量方法对形位不确定回转腔体内壁表面进行粗、精测量，提取纵截线簇数据，处理后重构内壁曲面。联合阻抗力控制和智能控制方法，提出参考轨迹的模糊调节算法；采用激光探测内壁曲面信息计算参考轨迹，根据接触环境刚度变化，建立模糊调节规则；通过调节因子对当前控制周期的参考轨迹变化量进行调整，使机械手打磨头在回转腔体内具有柔顺控制能力，实现对形位、刚度不确定回转腔体内壁表面的精确打磨。搭建了机器人激光测量与打磨开放式试验平台，进行了力控制打磨试验研究。试验结果表明：采用准在线纵截线激光预测与测量，重构曲面模型的相对平均误差小于0.024%; 采用模糊调节力控制算法对固体火箭发动机壳体绝热层内表面进行打磨，目标打磨深度为0.200 mm时，打磨正压力相对误差小于5%，回转腔体内表面打磨深度的相对平均误差为6.5%。结果显示所提方法可实现对具有复杂回转腔体内壁表面的精确打磨。

Abstract

A force control method based on reverse engineering and an impedance model was proposed for the robotic grinding in a kind of rotary shells inner surface with dynamic uncertainties. Using quasi-online laser measuring approach

the coarse and precise measuring processes were implemented for inner surface with longitudinal curve data and the 3D model of the rotary shells inner-surface was reconstructed. Combining an impedance controller with an intelligent control method

the algorithm of the reference trajectory of fuzzy adjusting was adopted. In virtue of the environmental geometry using laser measuring

the reference trajectory was accounted. According to the environmental change in stiffness

a fuzzy logic controller was used for adjusting the scale factor in sampling time. A robotic open architecture platform with force control was set up for laser measuring and grinding process. The force tracking experiments for inner-surface with dynamics uncertainties were performed. The experimental results show that the mean absolute difference rate of the model is less than 0.024% with laser measuring. The inner wall surface of a solid rocket engine was chosen for grinding experiment

and experimental results indicate that the mean absolute difference rate of force tracking is less than 5% and the difference rate of grinding depth is within 6.5% with setting depth of grinding of 0.200 m. These results prove the validity of the proposed method.

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references

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Grinding control of rotary shell′s inner-surface with dynamics uncertainties

DOI：10.3788/OPE.20132106.1479

摘要

Abstract

关键词

Keywords

references