论文部分内容阅读
X-Y平台执行磨削、抛光等作业时,需要在位置跟踪的同时保持与工件一定的接触力。针对此种受限X-Y平台,提出了一种在不改变X-Y平台位置控制器的前提下实现力控制的方案,即系统的外环为力控制回路,根据力误差修正参考位置,使平台与环境的实际接触力跟踪期望力。在力控制回路中,利用改进Elman网络在线辨识未知环境,不需要环境位置和刚度的先验知识,这种方法有误差补偿作用,对干扰和环境等不确定因素具有鲁棒性,仿真结果表明了控制方案的有效性。
X-Y platform for grinding, polishing and other operations, the need to track the position while maintaining contact with the workpiece a certain force. Aiming at such a limited XY platform, a scheme of force control is proposed without changing the position controller of the XY platform. The outer loop of the system is a force control loop, and the reference position is corrected according to the force error to make the platform and the environment The actual contact force tracking expectations. In the force control loop, using the improved Elman network to identify the unknown environment online does not require prior knowledge of environmental location and stiffness. This method has error compensation and is robust to uncertainties such as interference and environment. The simulation results show that The effectiveness of control programs.