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Vibration suppression in macro–micro grinding system of aeroengine blade based on impedance compensation prediction control strategy

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Abstract

In the process of aeroengine blade grinding, the vibration of the robot reduces the precision of grinding force control at the end, which seriously affects the processing quality of the blade. Thus, a macro–micro grinding system composed of a robot and a pneumatic end-effector is constructed. The system is controlled by the robot to realize the position and the end-effector to realize the force control. Based on a simplified model of the robot and the end-effector, a force compensation strategy combining a dynamic matrix prediction algorithm and an impedance compensation method is proposed. The axial grinding force and vibration compensation force are rolling optimized in a limited time domain in a way of minimizing the quadratic performance index, the time lag of the force compensation process and the uncertainty of model parameters are compensated, and the grinding force can be tracked stably is realized. The simulation and experimental results indicate that the method can quickly suppress the vibration, decrease the force fluctuation, and improve the blade grinding quality.

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Data availability

Available on request.

Code availability

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

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Funding

This work is jointly funded by the National Key Research and Development Program of China (Grant number 2019YFB1311104) and the China Natural Science Foundation (Grant number 52005154).

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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

    Shijie Dai, Shuyuan Liu, Wenbin Ji & Shida Li

Authors
  1. Shijie Dai
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  2. Shuyuan Liu
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  3. Wenbin Ji
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  4. Shida Li
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Contributions

All authors contributed to the study conception and design. Shijie Dai: resources and validation; Shuyuan Liu: conceptualization, methodology, and writing—original draft; Wenbin Ji: writing—review and editing; Shida Li: investigation and supervision. All authors read and approved the final manuscript.

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Correspondence to Wenbin Ji.

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Dai, S., Liu, S., Ji, W. et al. Vibration suppression in macro–micro grinding system of aeroengine blade based on impedance compensation prediction control strategy. Int J Adv Manuf Technol 125, 793–807 (2023). https://doi.org/10.1007/s00170-022-10721-2

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  • DOI: https://doi.org/10.1007/s00170-022-10721-2

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