Hybrid Force/Position Control Base On X-Y Table

X-Y table as a typical equipment can not only be used for plane processing,but also be used as a prototype of large-scale mechanical equipment.The X-Y positioning table is required to keep precise postion tracking and keep a expect contact force along the outward normal of the constraint surface in tasks such as polishing,grinding,deburring and other operations.Based on the findings of experts and scholars at home and abroad,it is treated as a key research object,Based on the force/position hybrid control,the following aspects are studied.A new control scheme based on adaptive fuzzy PID force/position hybrid control is presented based on X-Y positioning table hybrid force/position control theory.Conventional PID control method is used in position control part,a self-adaptive fuzzy PID control algorithm is used in force control part.Strong adaptability and robustness are possessed by fuzzy controllers,the exact mathematical model of the controlled object is not dependent on,The advantages of high stability and accuracy in the control system are provided by the PID controller.The ability to resist external disturbances and the stability and high-precision characteristics of these two are combined.The simulation results indicate that compared with the conventional PID control alogorithm,The response speed and tracking control accuracy of the control system have been significantly improved and the robustness of the system has been improved to achieve the desired result.A new control strategy based on repetitive control compensation high-precision PID is designed to solve the periodic error problem in tasks that periodic work of the X-Y workbench.The strong control of the repetitive control algorithm for periodic signals or periodic interference enhance the tracking control performance and robust performance of the system.Conventional PID control method is used in position control part,High-precision PID based on iterative control compensation algorithm is used in force control part.The accuracy of the control system is increased and the periodic disturbance is suppressed due to the iterative control algorithm combined with the PID.The simulation results indicate that compared with the conventional PID control alogorithm,The response speed and tracking control accuracy of the control system have been significantly improved and the robustness of the system has been improved to achieve the desired result.