随五轴加工轨迹变抛光力的控制策略与方法

设计了以PWM信号高速开关控制为核心的气动抛光力加载控制系统，采用滑动平均滤波PID算法调节，通过Simulink仿真和实验调整PID参数，提高系统动态性能，保证变抛光力的控制要求.借助五轴混联机器人动平台，搭建五轴变抛光力试验系统，进行跟随轨迹的变抛光力加载实验.实验结果表明，设计的滑动平均滤波PID控制能够在力控制要求改变时快速响应，使抛光力跟踪至设定值，力实测值误差在±1N以内，波动范围小，具有足够的稳定性和准确性，满足变抛光力的控制要求，实现了跟随五轴加工轨迹的变抛光力控制.

Control Strategy and Method for Variable Polishing Force Adapting to the 5-Axis Machining Trajectory

A pneumatic polishing force loading control system based on high speed on/off controlled by pulse-width modulation(PWM) signals was designed. The control system was adjusted by the moving average filter PID control method. PID parameters were determined by Simulink simulation and experiment， so the dynamic property of the system was improved to ensure the control requirement of variable polishing force. Assisted by a 3-TPS hybrid robot， a 5-axis variable polishing force experiment system was built， and the experiment of variable polishing force adapting to the 5-axis machining trajectory was conducted. The experiment results illustrate that the moving average filtering PID control can quickly respond as the setting force changes and the measure force value can quickly track the changing setting value. The average error of the force is about ±1N with a small fluctuation range. The control system has enough stability and accuracy to satisfy the control requirement of variable polishing force. Variable polishing force adapting to the 5-axis machining trajectory is thus achieved.