In the polishing process, contact force has obvious influence on material removal rate, thus realizing stability and effectiveness of force control is a significant issue for automatic polishing. This paper designs a pneumatic polishing force control system to achieve reliability force control. The system is based on a high speed on/off valve which is controlled by Pulse-Width Modulation (PWM) signals. PWM signals are generated by a Programmable Logic Controller (PLC). Proportion-Integration-Differentiation (PID) control algorithm with moving average filter is conducted in the PLC, thus dynamic property of the system has been improved. The pneumatic system is assembled on a 3-TPS hybrid robot with 5 degrees of freedom (DOF) movement to equip a polishing experimental platform. Polishing force control experiments are conducted on the experimental platform to research the performances and characteristics of the pneumatic polishing force system. According to the experimental results, the pneumatic system presents excellent effectiveness and response speed to track a certain desired polishing force value with small force tracking error. Percentage of absolute average errors are descending as the desired force values is increasing, and settling time is small enough for the polishing manufacture. Therefore, based on the high speed on/off valve, the pneumatic polishing force system proposed in this paper can be conducted in various polishing processes and satisfy special requirements of different workpieces. The polishing force control system can be adjusted to work at an adaptive status due to the excellent effectiveness, stabilization and response speed of force tracking.

在抛光过程中，接触力对材料去除率有明显影响，因此实现力控制的稳定性和有效性是自动抛光的重要问题。本文设计了一种气动抛光力控制系统，以实现可靠的力控制。该系统基于由脉冲宽度调制（PWM）信号控制的高速开关阀。PWM信号由可编程逻辑控制器（PLC）生成。在PLC中采用带移动平均滤波器的比例积分微分（PID）控制算法，提高了系统的动态性能。气动系统装配在具有5个自由度（DOF）运动的3-TPS混合机器人上，以配备抛光实验平台。在实验平台上进行了抛光力控制实验，以研究气动抛光力系统的性能和特性。根据实验结果，该气动系统具有出色的有效性和响应速度，可以以较小的力跟踪误差跟踪某个所需的抛光力值。随着所需作用力值的增加，绝对平均误差的百分比在下降，并且建立时间足够小，适合抛光制造。因此，基于高速开关阀，本文提出的气动抛光力系统可以在各种抛光工艺中进行，并满足不同工件的特殊要求。由于出色的效果，可以将抛光力控制系统调整为在自适应状态下工作，