中国机械工程2025，Vol.36Issue(4)：671-680,10.DOI:10.3969/j.issn.1004-132X.2025.04.003
基于模糊线性自抗扰的薄壁件机器人铣削切深控制
Depth of Cut Control for Thin-walled Parts in Robotic Milling Based on FLADRC
摘要
Abstract
Weakly rigid large thin-walled parts had large deformations and vibrations during ro-botic thinning machining,which led to a degradation of the surface quality of the workpieces and diffi-culties in ensuring the accuracy of the remaining wall thickness.To this end,a VCM-driven follower support head was used for vibration and deformation suppression,and a FLADRC based control strat-egy was proposed for depth of cut of robotic milling thin-walled parts.In order to verify the effective-ness of the control strategy,the system control models were firstly established based on the MAT-LAB/Simulink simulation and experimental platform,and the simulation analysis was carried out,then experimental verification was carried out on the thin-walled parts robotic milling experiment plat-form.Both of the simulation and experimental results show that the depth-of-cut control strategy based on the follower support head may significantly suppress the vibrations and deformations during the machining processes of thin-walled parts and effectively ensure the accuracy of the remaining wall thickness.In addition,compared with the traditional fuzzy PID control,the FLADRC has a better control effectiveness and exhibits higher robustness in the presence of external disturbances.关键词
薄壁件/机器人铣削/切深控制/模糊线性自抗扰控制/音圈电机/随动支撑头Key words
thin-walled part/robotic milling/depth of cut control/fuzzy linear active disturbance rejection controller(FLADRC)/voice coil motor(VCM)/follower support head分类
矿业与冶金引用本文复制引用
石龙,周鹤翔,李洲龙..基于模糊线性自抗扰的薄壁件机器人铣削切深控制[J].中国机械工程,2025,36(4):671-680,10.基金项目
国家自然科学基金(U22A20202,52275451) （U22A20202,52275451）
