Stability Analysis of a One Degree of Freedom Robot Model with Sampled Digital Acceleration Feedback Controller in Turning and Milling

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Computational and Nonlinear Dynamics Pub Date : 2023-05-04 DOI:10.1115/1.4062229

Andras Bartfai, Asier Barrios, Zoltan Dombovari

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引用次数: 0

Abstract

Abstract This study is interested in the stability of robots in machining. The goal is to improve the dynamic performance of robots using an additional acceleration signal fed back through the conventional built-in proportional-derivative controller provided by the manufacturer. The structure of the robot is modelled with a simple one degree-of-freedom lumped model and the control signals are fed back via a linear spring and damping. The time delays of the feedback controllers are considered as zero-order holds, which results in sawtooth-like time-periodic time delays. The resulting equation of motion is an advanced delay differential equation. The semidiscretization method is shown for such systems having multiple sampled digital delays and continuous delays. First, we establish the stable regions in the plane of the sampling delay and the gain of the acceleration signal without machining. Then, we show the possibility to improve stability in turning and milling using the additional acceleration feedback controller compared to the cases without any controller or using only the built-in proportional-derivative controller.

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带有采样数字加速度反馈控制器的一自由度机器人模型车铣稳定性分析

摘要本研究对机器人在机械加工中的稳定性问题感兴趣。目标是通过制造商提供的传统内置比例导数控制器反馈额外的加速度信号来改善机器人的动态性能。机器人的结构采用简单的单自由度集总模型，控制信号通过线性弹簧和阻尼进行反馈。反馈控制器的时滞被认为是零阶保持器，这导致了锯齿状的时间周期时滞。所得到的运动方程是一个先进的时滞微分方程。对于具有多个采样数字延迟和连续延迟的系统，给出了半离散化方法。首先，在不加加工的加速度信号的采样延时和增益平面上建立稳定区域;然后，我们展示了与没有任何控制器或仅使用内置比例导数控制器的情况相比，使用附加加速度反馈控制器提高车削和铣削稳定性的可能性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Computational and Nonlinear Dynamics 工程技术-工程：机械

CiteScore

4.00

自引率

10.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.