The Development of a Position/Force Hybrid Controller for Autpmated Surface Finishing Systems

• Main Authors: Huang, Hsien-Chung, 黃賢中
• Other Authors: Wang, Yin-Tien
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/05723306849784252177

碩士 === 淡江大學 === 機械工程學系 === 86 === 　　A controller includes motion and force control algorithms is developed in this research for the Automated Surface Finishing System (ASFS). For the motion control, we utilize a proportional-plus-integral-plus-differntial control algorithm and the cross-coupling relationship between axes of servomechanisms to reduce the contour error generated during the motion of the ASFS. While a proportional-plus-differential-plus-feedforward control algorithm is employed for control of the grinding-polishing contact force. We intend to keep the contact force to be constant during the finishing processes. 　　There are three research stages in this thesis. Firstly, we systematically review previous research works. According to the literatures, we can indirectly affect the surface roughness of the ground workpiece by the proper control of the contact force. Secondly, the motion and force control algorithms are analyzed and simulated. Finally, the integrated Automated Surface Finishing System is tested on a sel-constructed XYZ servomechanism. The expertimental results show that the uses of the proposed motion and force control algorithms can effectively reduce the contour error and retain a constant contact force durign the finishing processes.