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Study on the constant force control of aero-engine blade grinding robot considering time delay

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Abstract

The aero-engine blade grinding system has time delay problem, which leads to large fluctuation of grinding force and eventually affects the surface roughness of the blade. To address this problem, this paper combines the improved Smith prediction algorithm with active disturbance rejection control (ADRC) to propose the filter Smith-ADRC control algorithm, which consists of three parts, namely, the main controller, the compensator and the filter. It is firstly simulated and analyzed in Matlab/Simulink platform, and then the robot grinding system is constructed for experimental verification, which is executed by the robot for position control and by the end-effector for force control. Both simulation and experimental results show that the grinding system with filter Smith-ADRC controller has good control effect and stability. The surface roughness of the blade is 0.3503 μm after grinding, which is better than other control algorithms such as ADRC and Smith’s predictive control. Consequently, the filter Smith-ADRC control algorithm can overcome the time delay problem of the system and improve the grinding accuracy and quality.

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Code availability

The codes that support the findings of this study are available from corresponding author upon reasonable request.

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Funding

This work is jointly funded by National Key Research and Development Program of China (Grant numbers 2019YFB1311104) and Hebei Province Graduate Innovation Funding Project (Grant numbers CXZZSS2023023).

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Authors and Affiliations

  1. Hebei Key Laboratory of Robot Perception and Human Machine Fusion, School of Mechanical Engineering, Hebei University of Technology, Tianjin, China

    Kailiang Shen, Shijie Dai, Wenbin Ji & Ruiqin Wang

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  1. Kailiang Shen
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  2. Shijie Dai
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  3. Wenbin Ji
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Contributions

All authors contributed to the study conception and design. Kailiang Shen: Conceptualization, Methodology; Writing—original draft; Shijie Dai: Resources, Validation, Supervision; Wenbin Ji: Writing—review & editing; Ruiqin Wang: Investigation, Supervision. All authors read and approved the final manuscript.

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Correspondence to Shijie Dai.

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Shen, K., Dai, S., Ji, W. et al. Study on the constant force control of aero-engine blade grinding robot considering time delay. Int J Adv Manuf Technol 131, 1427–1447 (2024). https://doi.org/10.1007/s00170-024-13029-5

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