Key Technology Research For Compliance Motion Control And Development Of Control System

This topic from the subset of the national 863 project "The preparation of Ion molten and spray such as resistant abrasion composite coating as well as characterization techniques"-development of resistant abrasion composite coating and rapid detection equipment,the purpose is to realize the test and polishing of multi-parameter and high-throughput for the multiple array of coating sample array.The difficulty lies in how to ensure the multi-stage constant force control of the fast plane moving and high speed rotation in the grinding process.The main content of this paper is the constant force control which is the key technology research of the soft control algorithm and the construction and implementation process of the control system.First of all,basic impedance control,admittance control and force and position hybrid control strategy are studied.The research object is planar two-link manipulator.In the matlab,the impedance control and admittance control are simulated based on the robot kinematics and dynamics model.By adjusting the inertial parameters,impedance parameters and rigid parameters,the position tracking and force tracking response in free space and contact space are analyzed.Through the experiment,it is found that the admittance control is similar to the force and position hybrid control reaction curve,and theoretically analyzes this phenomenon.Finally it is concluded that,in terms of our subject,the impedance control is difficult to ignore the influence of friction,because of the damper is lag or error amplifier,admittance control is not as good as the response efficiency of PID force control in the force and position hybrid control effect which is more rapid.Then,the control system was built for this subject.Mainly introduced the scheme design,equipment selection,the construction of the hardware system,the improvement of local mechanical structure,the design of the man-machine and interface's control system,and the design of the motion and control program's lower computer.Adhering to the principle of overall line and open.Using planer type surface grinder of the four-axis go with the cooperative motion controller that based on Codesys and complete the project requirements through overall line of EtherCat,and design a worktable with a multi-point array and an eccentric load.On the basis of the WPF under Windows environment,fully functional human machine interface was developed,including communications,real-time data display,manual teaching,parameter setting,automatic programming,file management,3d(three-dimensional)simulation,error compensation,and other functions.It includes all of the motion control algorithm that contains force and position hybrid control what can concrete implementation through the lower computer,and including communication,file operations,IO signal read,the Butterworth trap is read by cooperating with the analog signal of Kalman filter,error compensation,and other functions.In the end,the multiple array of coating sample array's constant force grinding of multi-parameter and fast and stable is realized.