基于磁流变弹性体吸振器的机器人铣削颤振闭环控制研究

Closed-loop control of the chatter in robotic milling based on magnetorheological elastomer absorber

  • 摘要: 针对机器人铣削面临的颤振难题,开展了基于磁流变弹性体(magnetorheological elastomer,MRE)吸振器的闭环控制实验,进一步评估MRE吸振器在机器人铣削中的颤振抑制特性。通过振动台扫频试验,比较了各向同性和各向异性MRE吸振器的固有频率变化特性,发现各向异性MRE吸振器带宽提高了24.8%,频移特性达160.58%,更适用于机器人铣削颤振抑制。在此基础上,构建了机器人铣削颤振闭环控制系统,设计了基于TMS320F28335B DSP的励磁线圈电流控制器。通过四组机器人铣削试验,评估了不加吸振器、加吸振器不通电、吸振器电流开环控制和闭环控制四种不同控制策略下MRE吸振器的颤振抑制效果。结果表明,闭环控制策略下,MRE吸振器具备更显著的颤振抑制效果,实现了机器人铣削过程中颤振的实时控制,为工业机器人的颤振抑制提供了新的解决方案。

     

    Abstract: To address the issue of chatter in robotic milling, this study conducts a closed-loop control experiment utilizing a Magnetorheological Elastomer (MRE) vibration absorber to evaluate its suppression characteristics. Through the vibration table sweep frequency test, the natural frequencies of isotropic and anisotropic MRE vibration absorbers are obtained and compared, and it is revealed that the bandwidth of the anisotropic MRE vibration absorber is increased by 24.8%, and the frequency shift characteristic reaches 160.58%, making it more suitable for suppressing the chatter in robot milling. Building upon this finding, a closed-loop control system is constructed, incorporating a current controller for the excitation coil based on the TMS320F28335B DSP. The performance of the MRE vibration absorber under various control strategies-no absorber, with absorber and without current, open-loop current control, and closed-loop control are meticulously evaluated through four groups of robotic milling tests. The results demonstrate that the closed-loop control strategy significantly enhances the chatter suppression capabilities of the MRE vibration absorber. This approach facilitates real-time control over chatter in robotic milling, offering an innovative solution for chatter mitigation in industrial robotic applications.

     

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