Force control of grinding process based on frequency analysis
Force control of grinding process based on frequency analysis
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DOI：
10.1109/lra.2022.3146578
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发表时间：
2021-12
影响因子：
5.2
通讯作者：
Yuya Nogi;S. Sakaino;T. Tsuji
中科院分区：
文献类型：
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作者：
Yuya Nogi;S. Sakaino;T. Tsuji
磁滞漂移是磨削加工过程中力检测的一个主要问题。本文提出了一种基于力传感器测力的Mel谱图的外力估计方法。重点研究了周期性振动作业中振动频率与外力之间频繁的强相关性。在振动引起的噪声较大的情况下，频率信息对于精确的力估计比幅值更有效。实验证明，结合Mel谱图和神经网络的力估计方法对漂移具有较强的鲁棒性。
Hysteresis-induced drift is a major issue in the detection of force induced during grinding and cutting operations. In this paper, we propose an external force estimation method based on the Mel spectrogram of the force obtained from a force sensor. We focus on the frequent strong correlation between the vibration frequency and the external force in operations with periodic vibrations. The frequency information is found to be more effective for an accurate force estimation than the amplitude in cases with large noise caused by vibration. We experimentally demonstrate that the force estimation method that combines the Mel spectrogram with a neural network is robust against drift.