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Constant force control for aluminum wheel hub grinding based on ESO + backstepping

Shijie Dai (School of Mechanical Engineering, Hebei University of Technology, Tianjin, China)
Yufeng Zhao (School of Mechanical Engineering, Hebei University of Technology, Tianjin, China)
Wenbin Ji (School of Mechanical Engineering, Hebei University of Technology, Tianjin, China)
Jiaheng Mu (School of Mechanical Engineering, Hebei University of Technology, Tianjin, China)
Fengbao Hu (School of Mechanical Engineering, Hebei University of Technology, Tianjin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 7 December 2021

Issue publication date: 30 June 2022

157

Abstract

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.

Keywords

Acknowledgements

Special thanks to the following two funds for their support: 1) National Key R&D Program of China(2019YFB1311100); 2) Special Fund for the Central Government to Guide the Development of Local Science and Technology (19941603G)

Citation

Dai, S., Zhao, Y., Ji, W., Mu, J. and Hu, F. (2022), "Constant force control for aluminum wheel hub grinding based on ESO + backstepping", Industrial Robot, Vol. 49 No. 5, pp. 824-834. https://doi.org/10.1108/IR-09-2021-0193

Publisher

:

Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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