基于模糊线性自抗扰的薄壁件机器人铣削切深控制

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关键词：薄壁件;机器人铣削；切深控制；模糊线性自抗扰控制；音圈电机；随动支撑头中图分类号：TG54;TP242.2；TP273DOI：10.3969/j.issn.1004-132X.2025.04.003 开放科学（资源服务）标识码（OSID）：

Depth of Cut Control for Thin-walled Parts in Robotic Milling Based on FLADRC

SHI Long ZHOU Hexiang LI Zhoulong* School of Mechanical Engineering，Shanghai Jiao Tong University，Shanghai，200240

Abstract： Weakly rigid large thin-walled parts had large deformations and vibrations during ro botic thinning machining，which led toa degradation of the surface quality of the workpieces and difficulties in ensuring the accuracy of the remaining wall thickness.To this end，a VCM-driven follower support head was used for vibration and deformation suppression，and a FLADRC based control strategy was proposed for depth of cut of robotic milling thin-walled parts. In order to verify the effectiveness of the control strategy，the system control models were firstly established based on the MATLAB/Simulink simulation and experimental platform，and the simulation analysis was carried out， then experimental verification was carried out on the thin-walled parts robotic milling experiment platform.Both of the simulation and experimental results show that the depth-of-cut control strategy based on the folower support head may significantly suppress the vibrations and deformations during the machining processes of thin-walled parts and efectively ensure the accuracy of the remaining wall thickness. In addition，compared with the traditional fuzzy PID control，the FLADRC has a better control effectiveness and exhibits higher robustness in the presence of external disturbances.

Key Words： thin-walled part;robotic milling;depth of cut control; fuzzy linear active disturbance rejection controller（FLADRC）；voice coil motor（VCM） ； follower support head

0 引言

大型铝合金薄壁零件因其质量小、强度高、结构效率高而被广泛应用于飞机和火箭的制造[1-3]。（剩余17173字）