Research Of Adaptive Control Method Of Automatic Drilling Robot Cutting Tool Joints

Robot automatic drilling system has the advantages such as highly flexible assembly, wide adaptation and so on; make it be one of the most useful light-duty automatic drilling systems in nowadays. The structural component which needed to drill among the airplane assembly usually is large curved face, and the drilling of composite laminated structure is always a problem in production. The main solution to these problems is the posture control and the replacement of drilling parameters of cutting tool. Required the drilling system can meet the needs of cutting tool motion posture adjustment, and adjust drilling parameters according to different materials. These key problems are closely related to the design method and control strategy of drilling system,and the research of the new type drilling system’ design theory and control method are needed to solve them.This paper takes the drilling rule and control strategy of automatic drilling robot cutting tool joints as the research target, firstly, research the influence law of the axial force and driving moment that caused by the position, posture and processing parameters of cutting tool. Put forward a solution that taking driving moment as constraint, cutting tool normal direction posture as target, and adjusting cutting tool posture in the operating space. Based on sensor technology and the measuring principle,with the integrated idea, organically combine the position sensor and cutting tool drilling movement, build the position and posture measurement integrated sensor,measurement and drilling integrated system, and solve the key problems such as the measuring of drilling coordinate system, accuracy of hole detection, cutting tool normal direction detection, posture alignment and so on.Secondly, research on controller design, fuzzy rules extraction and precision compensation method that under PID control, fuzzy control, neural network control and several kinds of composite control mode. For aviation drilling bottlenecks and defect of difficult-to-machine materials such as carbon fiber composites and titanium alloy materials, provide an adaptive control strategy of cutting tool drilling behavior, break through the defects of traditional PID control method, and expected to get more drilling accuracy.Finally, using the dynamic model of cutting tool joints, respectively based on fivecontrol method for cutting tool joints control system modeling of PID control, fuzzy control, fuzzy PID control, neural fuzzy control and neural fuzzy PID control, designing controller, matching appropriate control algorithms, comparing the control effect such as posture tracking performance, anti-interference performance and rapidity of these control method by MATLAB simulation calculation, verifying the feasibility and effectiveness of the algorithm, which merit as the drilling system control scheme. In order to solve the automatically adjust position problems of cutting tool, and improve the normal direction accuracy in drilling engineering.