| With the progress of science and technology,the technology of drilling robot has been widely used in aircraft manufacturing and assembly,and the quality of drilling often determines life of the plane.Based on the dynamic equation of terminal executor,the position control of terminal executor is researched on this paper.Simulink software is used to simulate and compare the simulation results,so as to highlight the superiority of adaptive control.This article is divided into three parts as follows.The first part introduces the overall structure and the hardware control part of the drilling system,focusing on the division of each unit of the terminal executor,selecting the standardized parts and designing the non-standard componentsIn the second part,In order to get the position of the terminal executor in the machining state,the kinematics of the robot is also studied,and the mapping relationship between the position and posture of the terminal executor and the connecting rod of the robot is established.In the third part,the control of independent PD,the computed torque method and the adaptive control of RBF neural network are used to simulate and compare the function of three kinds of control methods.Through the comparison of first two methods,the simulation results are showed that the computed torque method has strong anti-interference ability in the control of independent PD,but the two control schemes are not ideal sinusoidal response,the main reason is the two control schemes are the executor model as a quantitative processing terminal.In view of the system modeling error,the adaptive control of RBF neural network concept is proposed to identify the uncertain term of the terminal executor modeling.The simulation results show that RBF network control effect has obvious advantages;sine and step response can achieve good tracking effect,and whether external interference or internal interference can achieve good control effect on the terminal executor. |
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