Advertisement

Force Control Polishing Device Based on Fuzzy Adaptive Impedance Control

  • Pengfei Chen
  • Huan ZhaoEmail author
  • Xin Yan
  • Han Ding
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11743)

Abstract

The final finishing technology of wind turbine blade is usually manual polishing and robotic polishing is a very meaningful but still hard task. This paper presents a novel strategy by combining a force control polishing device and contact force control algorithm. Specifically, the polishing device is electrically driven, which has advantage of high accuracy compared to the active control flange driven by cylinder. On the basis of this device, A fuzzy adaptive controller with a gravity compensation is proposed to adjust the damping parameter of the impedance controller to reduce the force error. The polishing device is placed on the end of Comau robot to be carried out the wind turbine blade polishing experiments. The results show that, the dynamic contact force error is 2 N and the roughness of wind turbine blade surface is 0.4 μm, which can obtain satisfactory performance of polishing.

Keywords

Wind turbine blade polishing Force control polishing device Fuzzy adaptive impedance control 

Notes

Acknowledgements

This work was supported by the National Key Research and Development Program of China under Grant No. 2017YFB1301501, the National Natural Science Foundation of China under Grant Nos. 91748114 and 51535004.

References

  1. 1.
    Jost, P.: Grinding device for machine based grinding of rotor blades for wind energy systems. US Patent 13,580,362, 20 Dec 2012Google Scholar
  2. 2.
    Jost, P.: Grinding device for machine based grinding of rotor blades for wind energy systems. US Patent 8,900,037, 2 Dec 2014Google Scholar
  3. 3.
    Wormley, D., Agranat, E.A.: Computer controlled grinding machine for producing objects with complex shapes. US Patent 5,193,314, 16 Mar 1993Google Scholar
  4. 4.
    Kennerknecht, S., Fortin, S.: Automated method and appartus for aircraft surface finishing. US Patent 9,731,979, 13 June 2002Google Scholar
  5. 5.
    Keld Eriksen, L.: Abrading arrangement to abrade a surface of an item and method of use thereof. US Patent 13,809,277, 11 July 2013Google Scholar
  6. 6.
    Norberto Pires, J., Godinho, T., Araújo, R.: Force control for industrial applications using a fuzzy PI controller. Sens. Rev. 24(1), 60–67 (2004)CrossRefGoogle Scholar
  7. 7.
    Attiya, A.J., Wenyu, Y., Shneen, S.W.: Fuzzy-PID controller of robotic grinding force servo system. Int. J. Electr. Comput. Eng. (IJECE) 15(1) (2015)Google Scholar
  8. 8.
    Xu, Y.: Control software of robot compliant wrist system. Technical reports (CIS), Report number: 564 (1990)Google Scholar
  9. 9.
    Watson, P.C.: Remote center compliance system. US Patent 4,098,001, 4 July 1978Google Scholar
  10. 10.
    Huang, T., et al.: Design of a flexible polishing force control flange. In: 2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO). IEEE (2016)Google Scholar
  11. 11.
    Sheng, X., Zhang, X.: Fuzzy adaptive hybrid impedance control for mirror milling system. Mechatronics 53, 20–27 (2018)CrossRefGoogle Scholar
  12. 12.
    Gharghory, S., Kamal, H.: Modified PSO for optimal tuning of fuzzy PID controller. IJCSI Int. J. Comput. Sci. Issues 10, 462 (2013)Google Scholar
  13. 13.
    Wang, Y.: Direct drive electro-hydraulic servo control system design with self-tuning fuzzy PID controller. TELKOMNIKA Indonesian J. Electr. Eng. 11, 3374–3382 (2013)Google Scholar
  14. 14.
    Ma, Q., Shi, J.: Fuzzy PID speed control of two phases ultrasonic motor. TELKOMNIKA Indonesian J. Electr. Eng. 12, 6560–6565 (2014)Google Scholar
  15. 15.
    Hogan, N.: Impedance control: an approach to manipulation: part II—implementation. J. Dyn. Syst. Measur. Control 107(1), 8–16 (1985)CrossRefGoogle Scholar
  16. 16.
    King, P.J., Mamdani, E.H.: The application of fuzzy control systems to industrial processes. Automatica 13(3), 235–242 (1977)CrossRefGoogle Scholar
  17. 17.
    Deng, Z., et al.: Fuzzy force control and state detection in vertebral lamina milling. Mechatronics 35, 1–10 (2016)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhanChina

Personalised recommendations