基于扰动转化补偿的恒力控制部件设计与控制

姜传星; 杨志军; 陈新; 白有盾

doi:10.12052/gdutxb.230147

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基于扰动转化补偿的恒力控制部件设计与控制

精密制造技术与装备 | 更新时间：2026-05-27

- 基于扰动转化补偿的恒力控制部件设计与控制
- Design and Control of Constant Force Control Components Based on Disturbance Conversion Compensation
- 广东工业大学学报 2023年40卷第6期页码：52-61
- 作者机构：
  
  广东工业大学省部共建精密电子制造技术与装备国家重点实验室,广东,广州,510006
- 作者简介：
  
  姜传星(1982–) ，男，博士研究生，主要研究方向为电机控制
  白有盾(1986–)，男，讲师，博士，主要研究方向为精密运动规划与控制，E-mail：youdun.bai@gdut.edu.cn
- 基金信息：
  
  国家重点研发计划资助项目(2022YFB4701001);国家自然科学基金资助项目(51875108, 51905107);佛山市南海区重点领域科技攻关项目(2230032004637);佛山市南海区蓝海人才计划项目(2030032000185)
- DOI：10.12052/gdutxb.230147
  中图分类号： TH122
- 网络首发：2023-11-25，
  
  纸质出版：2023
- 稿件说明：
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姜传星, 杨志军, 陈新, 白有盾. 基于扰动转化补偿的恒力控制部件设计与控制[J]. 广东工业大学学报, 2023, 40(6): 52-61.

Jiang Chuan-xing, Yang Zhi-jun, Chen Xin, et al. Design and Control of Constant Force Control Components Based on Disturbance Conversion Compensation[J]. 2023, 40(6): 52-61.
姜传星, 杨志军, 陈新, 白有盾. 基于扰动转化补偿的恒力控制部件设计与控制[J]. 广东工业大学学报, 2023, 40(6): 52-61. DOI： 10.12052/gdutxb.230147.

Jiang Chuan-xing, Yang Zhi-jun, Chen Xin, et al. Design and Control of Constant Force Control Components Based on Disturbance Conversion Compensation[J]. 2023, 40(6): 52-61. DOI： 10.12052/gdutxb.230147.

摘要

针对机械导轨式力控系统精度受非线性摩擦影响的问题，本文提出了一种将摩擦扰动转化为弹性扰动的设计方法，解决了摩擦死区和静摩擦力补偿难的问题。具体做法是，将力控执行机构设计成用柔性铰链组连接的框架和工作平台。当驱动力小于摩擦力时，位移由柔性铰链弹性变形产生，消除了摩擦死区。非线性摩擦扰动转化为柔性铰链弹性变形扰动，通过柔性铰链的变形量和变形速率，计算出弹性力和阻尼力进行实时补偿，解决了摩擦力补偿问题。通过实验表明，摩擦扰动转化设计，通过量测补偿，最终将力控精度提高到0.08 N，比原来提高20~50倍，是一般气浮式精度(1 N) 的10倍以上，并且保持了电控系统响应快、成本低的优势。

Abstract

Constant force control is significant for robot griding or polishing. Due to the influence of guide rail friction

the existing high precision force control employs air bearing and pneumatic control. Aiming at the problem that the precision of mechanical guideway force control system is affected by nonlinear friction

a design method is proposed that converts friction disturbance into elastic disturbance

which solves the problems of friction dead zone and static friction compensation. Specifically

the force control actuator is designed as a frame and working platform connected by a flexible hinge group. When the driving force is less than the friction force

the displacement is completely generated by the elastic deformation of the flexure hinge

eliminating the friction dead zone. The nonlinear friction disturbance is converted into the elastic deformation disturbance of the flexure hinge. Through the deformation amount and deformation rate of the flexure hinge

the elastic force and damping force are calculated for real-time compensation

which solves the problem of friction compensation. The experiment shows that the friction disturbance conversion design reduces the influence of friction

finally improves the force control accuracy to 0.08 N through measurement and compensation

which is 20~50 N times higher than the original

more than 10 times higher than the general air flotation accuracy

and maintains the advantages of fast response and low cost of the electronic control system.

关键词

Keywords

references

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