Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2023 Mar 25;14(4):730.
doi: 10.3390/mi14040730.

Research on Robotic Compliance Control for Ultrasonic Strengthening of Aviation Blade Surface

Shanxiang Fang  1   2 , Yao Du  3 , Yong Zhang  1 , Fanbo Meng  4 , Marcelo H Ang Jr  2
Affiliations

Research on Robotic Compliance Control for Ultrasonic Strengthening of Aviation Blade Surface

Shanxiang Fang et al. Micromachines (Basel). .

Abstract

In order to satisfy the requirement of the automatic ultrasonic strengthening of an aviation blade surface, this paper puts forward a robotic compliance control strategy of contact force for ultrasonic surface strengthening. By building the force/position control method for robotic ultrasonic surface strengthening., the compliant output of the contact force is achieved by using the robot's end-effector (compliant force control device). Based on the control model of the end-effector obtained from experimental determination, a fuzzy neural network PID control is used to optimize the compliance control system, which improves the adjustment accuracy and tracking performance of the system. An experimental platform is built to verify the effectiveness and feasibility of the compliance control strategy for the robotic ultrasonic strengthening of an aviation blade surface. The results demonstrate that the proposed method maintains the compliant contact between the ultrasonic strengthening tool and the blade surface under multi-impact and vibration conditions.

Keywords: aviation blade surface; compliance control; industry robot; neural network fuzzy PID control; ultrasonic strengthening.

PubMed Disclaimer

Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Force/position control schematic of robotic ultrasonic surface strengthening.
Figure 2
Figure 2
Force analysis of the end-effector.
Figure 3
Figure 3
The transfer function block diagram of the end-effector system.
Figure 4
Figure 4
Response validation of the end-effector’s measurement model.
Figure 5
Figure 5
Structure diagram of the fuzzy neural network PID control system.
Figure 6
Figure 6
Step response curve of Fuzzy-RBF-PID control.
Figure 7
Figure 7
Forward sinusoidal response curve of Fuzzy-RBF-PID control.
Figure 8
Figure 8
Dynamic tracking error of the output force.
Figure 9
Figure 9
The structure of the end-effector’s hardware control platform.
Figure 10
Figure 10
Step response analysis of contact force. (a) Open-loop control; (b) PID control; (c) Fuzzy control; (d) Fuzzy-RBF-PID control.
Figure 11
Figure 11
Force analysis of strengthening tool in the strengthening process.
Figure 12
Figure 12
Forward sinusoidal tracking response analysis of contact force. (a) Open-loop control; (b) PID control; (c) fuzzy control; (d) fuzzy-RBF-PID control.
Figure 12
Figure 12
Forward sinusoidal tracking response analysis of contact force. (a) Open-loop control; (b) PID control; (c) fuzzy control; (d) fuzzy-RBF-PID control.
Figure 13
Figure 13
Experimental platform of robotic ultrasonic strengthening.
Figure 14
Figure 14
Contact force test on a single path.
Figure 15
Figure 15
Response curve of output force on a single path with Fuzzy-RBF-PID control.
Figure 16
Figure 16
Robotic ultrasonic strengthening on aviation blade surface.
Figure 17
Figure 17
Aviation blade surface before and after ultrasonic surface strengthening.
Figure 18
Figure 18
Microscopic morphology of the blade surface. (a) Before robotic ultrasonic strengthening; (b) after robotic ultrasonic strengthening.
See this image and copyright information in PMC

References

    1. Wu J., Che Z., Zou S., Cao Z., Sun R. Surface Integrity of TA19 Notched Simulated Blades with Laser Shock Peening and Its Effect on Fatigue Strength. J. Mater. Eng. Perform. 2020;29:5184–5194. doi: 10.1007/s11665-020-05025-z. - DOI
    1. Zou S., Wu J., Zhang Y., Gong S., Sun G., Ni Z., Cao Z., Che Z., Feng A. Surface Integrity and Fatigue Lives of Ti17 Compressor Blades Subjected to Laser Shock Peening with Square Spots. Surf. Coat. Technol. 2018;347:398–406. doi: 10.1016/j.surfcoat.2018.05.023. - DOI
    1. Nie X., He W., Cao Z., Song J., Li X., Pang Z., Yan X. Experimental Study and Fatigue Life Prediction on High Cycle Fatigue Performance of Laser-Peened TC4 Titanium Alloy. Mat. Sci. Eng. A. 2021;822:141658. doi: 10.1016/j.msea.2021.141658. - DOI
    1. Fang S., Zhang Q., Zhao H., Yu J., Chu Y. The Design of Rare-Earth Giant Magnetostrictive Ultrasonic Transducer and Experimental Study on Its Application of Ultrasonic Surface Strengthening. Micromachines. 2018;9:98. doi: 10.3390/mi9030098. - DOI - PMC - PubMed
    1. Zhu L., Gong C., Zhang C., Qian J., Liu S., Zhang X., Liu C. Robot-Assisted Ultrasonic Impact Strengthening Strategy for Aero-Engine Blades. Robot. Comput. Integr. Manuf. 2022;78:102389. doi: 10.1016/j.rcim.2022.102389. - DOI

LinkOut - more resources