基于惯性式电磁作动器的机器人铣削加工颤振自适应控制

To achieve chatter suppression in robotic milling process, this project proposes an active chatter control method in which inertia magnetic actuators and adaptive control algorithm with on-line model identification are applied. This project will provide necessary theoretical and technical support for chatter suppression in robotic milling process. The research contents include: (1) Study the design, modeling, and optimization method of a linearized inertia magnetic actuator, which has a high force output density and designed for active chatter control in robotic milling process. (2) Analyze the effect of eddy current damping of the magnetic actuator on the robot dynamics and chatter stability. (3) A FxLMS feed-forward adaptive chatter control method based on secondary path on-line identification will be proposed to solve the problems caused by the time-varying dynamics of the robot. (4) Experimental setup will be built to verify the effectiveness of the proposed active chatter control method in robotic milling process.

以实现机器人铣削加工中的颤振抑制为目标，提出一种基于惯性式线性电磁作动器与模型在线辨识自适应控制算法的颤振主动控制方法，为机器人铣削加工中的颤振抑制提供必要的理论与技术支撑。研究内容包括：（1）研究用于机器人铣削加工颤振主动控制的高输出力密度惯性式线性电磁作动器的设计、建模与优化方法，并对其输出特性进行理论分析与实验测试；（2）分析电磁作动器电涡流阻尼效应对铣削机器人动力学特性与颤振稳定性的影响；（3）针对机器人时变的动态特性，设计基于次级通道模型在线辨识的FxLMS前馈自适应颤振主动控制算法；（4）搭建实验平台，对所提出的机器人铣削加工颤振主动控制方法进行实验验证。

本项目针对机器人铣削与磨抛加工中存在的振动问题，开展了一系列的学术研究，并取得了理想的成功。包括：1）基于电涡流阻尼的机器人铣削加工颤振抑制机理分析与仿真；2）电涡流阻尼器的设计与研制；3）机器人铣削加工与磨抛加工中的振动抑制实验研究；4）惯性式电磁作动器的设计与研制；5）机器人磨抛加工接触力控制与振动抑制。