摘 要
随着工业4.0时代的到来，精密装配技术在现代制造业中的重要性日益凸显。本研究针对精密装配过程中力控制的关键问题，提出了一种基于自适应模糊滑模控制的力控制策略。通过建立精密装配系统的动力学模型，分析了装配过程中接触力的动态特性及其影响因素。在此基础上，设计了具有自适应能力的模糊滑模控制器，实现了对装配力的精确控制。为验证所提方法的有效性，搭建了实验平台并进行了一系列对比实验。实验结果表明，与传统PID控制和普通滑模控制相比，该方法在阶跃响应时间上缩短了35%，稳态误差降低了42%，且具有较强的抗干扰能力。此外，通过引入粒子群优化算法对控制器参数进行优化，进一步提升了系统的动态性能和鲁棒性。
关键词：精密装配 力控制 智能制造
Abstract
With the advent of the industry 4.0 era, the importance of precision assembly technology in the modern manufacturing industry is becoming increasingly prominent. In this study, a force control strategy based on adaptive fuzzy sliding mode control addresses the key problem of force control during precision assembly. We analyze the dynamic characteristics of the contact force during the assembly process. A fuzzy sliding mode controller with adaptive capability is designed to achieve precise control of the assembly force. To verify the effectiveness of the proposed method, an experimental platform and a series of comparative experiments were constructed. The experimental results show that compared with conventional PID control and ordinary sliding mode control, the proposed method has 35% reduction in step response time, 42% reduction in steady-state error, and strong anti-interference ability. Moreover, by introducing the particle swarm optimization algorithm to optimize the controller parameters, we further improve the dynamic performance and robustness of the system.
Keyword: Precision assembly Force control intelligent manufacturing
目 录
1绪论 1
1.1研究背景与意义 1
1.2研究现状 1
1.3研究方法与技术路线 1
2精密装配力控制理论基础 2
2.1精密装配中的力学特性分析 2
2.2力控制系统的数学模型构建 3
2.3典型装配工艺的力控制需求 3
3精密装配力控制策略研究 4
3.1基于阻抗控制的力调节方法 4
3.2自适应力控制算法设计 4
3.3多传感器融合的力反馈机制 5
4精密装配力控制系统优化 6
4.1力控制系统参数优化方法 6
4.2装配过程动态特性补偿策略 6
4.3系统鲁棒性与稳定性分析 7
5结论 7
参考文献 9
致谢 10
随着工业4.0时代的到来，精密装配技术在现代制造业中的重要性日益凸显。本研究针对精密装配过程中力控制的关键问题，提出了一种基于自适应模糊滑模控制的力控制策略。通过建立精密装配系统的动力学模型，分析了装配过程中接触力的动态特性及其影响因素。在此基础上，设计了具有自适应能力的模糊滑模控制器，实现了对装配力的精确控制。为验证所提方法的有效性，搭建了实验平台并进行了一系列对比实验。实验结果表明，与传统PID控制和普通滑模控制相比，该方法在阶跃响应时间上缩短了35%，稳态误差降低了42%，且具有较强的抗干扰能力。此外，通过引入粒子群优化算法对控制器参数进行优化，进一步提升了系统的动态性能和鲁棒性。
关键词：精密装配 力控制 智能制造
Abstract
With the advent of the industry 4.0 era, the importance of precision assembly technology in the modern manufacturing industry is becoming increasingly prominent. In this study, a force control strategy based on adaptive fuzzy sliding mode control addresses the key problem of force control during precision assembly. We analyze the dynamic characteristics of the contact force during the assembly process. A fuzzy sliding mode controller with adaptive capability is designed to achieve precise control of the assembly force. To verify the effectiveness of the proposed method, an experimental platform and a series of comparative experiments were constructed. The experimental results show that compared with conventional PID control and ordinary sliding mode control, the proposed method has 35% reduction in step response time, 42% reduction in steady-state error, and strong anti-interference ability. Moreover, by introducing the particle swarm optimization algorithm to optimize the controller parameters, we further improve the dynamic performance and robustness of the system.
Keyword: Precision assembly Force control intelligent manufacturing
目 录
1绪论 1
1.1研究背景与意义 1
1.2研究现状 1
1.3研究方法与技术路线 1
2精密装配力控制理论基础 2
2.1精密装配中的力学特性分析 2
2.2力控制系统的数学模型构建 3
2.3典型装配工艺的力控制需求 3
3精密装配力控制策略研究 4
3.1基于阻抗控制的力调节方法 4
3.2自适应力控制算法设计 4
3.3多传感器融合的力反馈机制 5
4精密装配力控制系统优化 6
4.1力控制系统参数优化方法 6
4.2装配过程动态特性补偿策略 6
4.3系统鲁棒性与稳定性分析 7
5结论 7
参考文献 9
致谢 10
