Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

doi:10.1007/s40436-022-00403-3

Advances in Manufacturing ›› 2023, Vol. 11 ›› Issue (1): 39-55.doi: 10.1007/s40436-022-00403-3

• • 上一篇

Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

Yan Liu^1,2, Qiu Tang^1,2, Xin-Cheng Tian^1,2, Long Cui^1,2

1. Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, 250061, People's Republic of China;
2. Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, 250061, People's Republic of China

收稿日期:2021-08-27 修回日期:2022-01-22 发布日期:2023-02-16
通讯作者: Yan Liu,E-mail:ly_sucro@sdu.edu.cn E-mail:ly_sucro@sdu.edu.cn
作者简介:Yan Liu was born in Dezhou, China, in 1992. He received his Ph.D. degree in School of Control Science and Engineering from Shandong University, in 2020, and the B.S. degree in School of Automation Engineering from Qingdao University, Qingdao, in 2015. He is currently a post-doctor at Shandong University. His research interests include intelligent manufacturing, robot trajectory planning and control, and the application of robot automatic welding technology on intersecting curve;
Qiu Tang was born in Chongqing, China, in 1994. She received the Ph.D. degree in Control Theory and Control Engineering from Chongqing University, China, in 2020, and the B.S. degree in School of Automation Engineering from Qingdao University, Qingdao, in 2015. She is currently a postdoctor at Shandong University. Her research interests include dynamic and nonlinear process monitoring based on multivariate statistical analysis, datadriven fault detection and diagnosis, and the application of machine learning in process monitoring;
Xin-Cheng Tian was born in Dezhou, China, in 1965. He received the B.S. and M.S. degrees in industrial automation from original Shandong Industrial University, Jinan, China, in 1988 and 1993, respectively, and the Ph.D. degree in guidance, control, and simulation from the Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 2000. He is currently a professor at the School of Control Science and Engineering, Shandong University. His main researches are the robot control technology, intelligent manufacturing system, and computer control technology and application.

Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

Yan Liu^1,2, Qiu Tang^1,2, Xin-Cheng Tian^1,2, Long Cui^1,2

1. Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, 250061, People's Republic of China;
2. Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, 250061, People's Republic of China

Received:2021-08-27 Revised:2022-01-22 Published:2023-02-16
Supported by:
The authors gratefully thank the research funding by the National Key Research and Development Plan of China (Grant No. 2017YFB1303503), the research supported by the Key Research and Development Program of Shandong Province (Grant No. 2019JZZY010441), the National Natural Science Foundation of China (Grant No. 62103234), and the project supported by the Natural Science Foundation of Shandong Province (Grant No. ZR2021QF027). The authors also thank AiMi Academic Services for the English language editing and review services.

摘要/Abstract

摘要： As more and more composite materials are used in lightweight vehicle white bodies, self-pierce riveting (SPR) technology has attracted great attention. However, the existing riveting tools still have the disadvantages of low efficiency and flexibility. To improve these disadvantages and the riveting qualification rate, this paper improves the control scheme of the existing riveting tools, and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR process. Firstly, this paper briefly introduces the working principle and SPR procedure of the servo riveting tool. Then a moving component force analysis is performed, which lays the foundation for the motion control. Secondly, the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve autonomously. To control this process, the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control algorithm. Then, this paper adopts the permanent magnet synchronous motor (PMSM) as the power of riveting tool, and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function (RBF) network friction compensation for the PMSM speed control. Finally, the proposed control approach is simulated by Matlab, and is applied to the servo riveting system designed by our laboratory. The simulation and riveting results show the feasibility of the designed controller.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-022-00403-3

关键词: Lightweight vehicle body connection, Self-pierce riveting (SPR) process, Flexible servo riveting tool, Riveting force planning and control

Abstract: As more and more composite materials are used in lightweight vehicle white bodies, self-pierce riveting (SPR) technology has attracted great attention. However, the existing riveting tools still have the disadvantages of low efficiency and flexibility. To improve these disadvantages and the riveting qualification rate, this paper improves the control scheme of the existing riveting tools, and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR process. Firstly, this paper briefly introduces the working principle and SPR procedure of the servo riveting tool. Then a moving component force analysis is performed, which lays the foundation for the motion control. Secondly, the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve autonomously. To control this process, the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control algorithm. Then, this paper adopts the permanent magnet synchronous motor (PMSM) as the power of riveting tool, and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function (RBF) network friction compensation for the PMSM speed control. Finally, the proposed control approach is simulated by Matlab, and is applied to the servo riveting system designed by our laboratory. The simulation and riveting results show the feasibility of the designed controller.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-022-00403-3

Key words: Lightweight vehicle body connection, Self-pierce riveting (SPR) process, Flexible servo riveting tool, Riveting force planning and control

Yan Liu, Qiu Tang, Xin-Cheng Tian, Long Cui. Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process[J]. Advances in Manufacturing, 2023, 11(1): 39-55.

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Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

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