Purpose

This study aims to realize the constant force grinding of automobile wheel hub.

Design/methodology/approach

A force control strategy of backstepping + proportion integration differentiation (PID) is proposed. The grinding end effector is installed on the flange of the robot. The robot controls the position and posture of the grinding end actuator and the grinding end actuator controls the grinding force output. First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. Finally, the feasibility of the proposed method is verified by simulation and experiment.

Findings

The simulation and experimental results show that the backstepping + PID strategy can track the expected force quickly, and improve the dynamic response performance of the system and the quality of grinding and polishing of automobile wheel hub.

Research limitations/implications

The mathematical model is based on the pneumatic system and ideal gas, and ignores the influence of friction in the working process of the cylinder, so the mathematical model proposed in this study has certain limitations. A new control strategy is proposed, which is not only used to control the grinding force of automobile wheels, but also promotes the development of industrial control.

Social implications

The automatic constant force grinding of automobile wheel hub is realized, and the manpower is liberated.

Originality/value

First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. The nonlinear model of the system is controlled by backstepping method, and in the process, the linear system composed of errors is obtained, and then the linear system is controlled by PID to realize the combination of backstepping and PID control.

中文翻译：

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基于反步+PID的磨削末端执行器力跟踪控制

目的

本研究旨在实现汽车轮毂恒力磨削。

设计/方法/方法

提出了一种反推+比例积分微分(PID)的力控制策略。研磨末端执行器安装在机器人的法兰上。机器人控制磨削端执行器的位置和姿态，磨削端执行器控制磨削力输出。首先对磨削末端执行器进行建模和分析，然后采用反步+PID方法控制磨削末端执行器跟踪预期的磨削力。最后，通过仿真和实验验证了所提方法的可行性。

发现

仿真和实验结果表明，反步+PID策略能够快速跟踪预期力，提高系统的动态响应性能和汽车轮毂磨抛质量。

研究限制/影响

该数学模型基于气动系统和理想气体，忽略了气缸工作过程中摩擦的影响，因此本研究提出的数学模型具有一定的局限性。提出了一种新的控制策略，不仅用于控制汽车车轮的磨削力，而且促进了工业控制的发展。

社会影响

实现了汽车轮毂自动恒力磨削，解放了人力。

原创性/价值

首先对磨削末端执行器进行建模和分析，然后采用反步+PID方法控制磨削末端执行器跟踪预期的磨削力。采用反步法控制系统的非线性模型，在此过程中得到由误差组成的线性系统，再通过PID控制该线性系统，实现反步法与PID控制的结合。