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

作     者：Yan Liu Qiu Tang Xin-Cheng Tian Long Cui Yan Liu;Qiu Tang;Xin-Cheng Tian;Long Cui

作者机构：Center for RoboticsSchool of Control Science and EngineeringShandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned SystemMinistry of EducationJinan250061People’s Republic of China 

出 版 物：《Advances in Manufacturing》 (先进制造进展（英文版）)

年 卷 期：2023年第11卷第1期

页      面：39-55页

核心收录：

学科分类：08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：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) the project supported by the Natural Science Foundation of Shandong Province(Grant No.ZR2021QF027). 

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

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.