Simulation of Auto Parts Polishing Control Strategy Based on PID Control

Abstract

With the large increase in automobile production, the demand for automobile parts is also increasing day by day. Aluminum alloy is the most widely used material in automobile parts. The production process of aluminum alloy parts has been automated, but the polishing process is still mainly manual. The high cost and low efficiency of manual polishing restrict the development of parts production technology. Therefore, it is imperative to develop a set of automatic polishing systems for aluminum alloy parts. Robot application in the polishing field has become a trend, but the force/bit coupling relationship in the polishing process of a robot is complicated, which brings great difficulty to the control of the polishing force. To solve the above problems, the key to obtaining stable polishing quality is to realize the force/bit decoupling of robot polishing and control the output constant polishing force. In this paper, an end-effector is used to realize the decoupling of force and position, and a new constant-force polishing control strategy is proposed to improve the automatic control level of robot polishing aluminum alloy auto parts. According to the nonlinear characteristics of the end-effector mathematical model and the feedback linearization characteristics of the backstepping method, a new type of backstepping PID constant force controller is designed, and the control flow is set up for simulation analysis. Simulink was used to build the simulation process and set up a reasonable controller gain for simulation verification. The simulation results of end-effector output polishing force under different strategies show that the reverse PID control has better response speed and anti-interference ability than the simple reverse control.