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Constant force control for aluminum wheel hub grinding based on ESO + backstepping
Industrial Robot ( IF 1.8 ) Pub Date : 2021-12-07 , DOI: 10.1108/ir-09-2021-0193
Shijie Dai 1 , Yufeng Zhao 1 , Wenbin Ji 1 , Jiaheng Mu 1 , Fengbao Hu 1
Affiliation  

Purpose

This paper aims to present a control method to realize the constant force grinding of automobile wheel hub.

Design/methodology/approach

A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system.

Findings

The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface.

Originality/value

The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.



中文翻译:

基于ESO+backstepping的铝轮毂磨削恒力控制

目的

本文旨在提出一种实现汽车轮毂恒力磨削的控制方法。

设计/方法/方法

提出了一种扩展状态观测器(ESO)与反推控制相结合的恒力控制策略。ESO用于估计总扰动以提高系统的抗干扰性和稳定性,而Backstepping控制用于提高系统的响应速度。

发现

仿真和磨削实验结果表明,与比例积分微分控制和自抗扰控制相比,所设计的控制器能够提高系统的动态响应性能和抗干扰能力,能够快速跟踪预期力,提高磨削性能。轮毂表面质量。

原创性/价值

本文的主要贡献在于提出了一种新的恒力控制策略,显着提高了磨削力的稳定性和精度。

更新日期:2021-12-07
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