[ Technical Papers ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 32, No. 2, pp.109-117

ISSN: 2508-5107 (Online)

Print publication date 15 Apr 2023

Received 01 Feb 2023 Revised 20 Feb 2023 Accepted 21 Feb 2023

DOI: https://doi.org/10.7735/ksmte.2023.32.2.109

하이브리드 가공기의 FSW를 위한 어드미턴스 힘 제어에 관한 연구

박인규^a^{, *} ; 김병재^b ; 이정우^a ; 이종득^a ; 문성준^b

A Study of Admittance Force Control for FSW of Hybrid Machine

In-Gyu Park^a^{, *} ; Byeongjae Kim^b ; Jungwoo Lee^a ; Jongdeuk Lee^a ; Seongjun Moon^b

aSmart Mobility R&D Devision, Korea Institute of Robotics & Technology Convergence (KIRO)
bMachining Technology Center Institute of R&D of Hwacheon Machine Tool Co., Ltd.

Correspondence to: ^*Tel.: +82-54-279-0436 E-mail address: igpark@kiro.re.kr (In-Gyu Park).

Abstract

This paper presents force control along the z-axis during friction stir welding (FSW) using a hybrid machine (F1300, Hwacheon Machinery). An admittance force controller is applied to control the position compensation of the tool for force change. During FSW with P-control, the values of the coefficients m, c, and k satisfying the position output of the tool for unit force input are selected as the coefficients for the controller. In the frequency domain analysis of the open loop transfer function, the coefficients are optimized to suppress, low pass, or cut-off of noise of the vibration data. Verification experiments revealed that the sensitivity of the axial force was up to 32.5 kgf, the tool position compensation value in the axial direction was stably controlled within 0.1 mm, and the internal voids of the material could be further reduced.

Keywords:

FSW(friction stir welding), Admittance control, z-axis direction force control, Coefficients optimization, Hybrid machine(FSW and milling)

Acknowledgments

이 연구는 2022년도 산업통상자원부가 지원한 ‘기계장비산업기술개발사업’으로 지원을 받아 수행된 연구결과입니다. [과제명: 마찰교반용접/머시닝 하이브리드 가공시스템 개발 / 과제고유번호: 20018458]

References

Kim, Y.-P., Kim, C.-H., Kim, Y.-G., Joo, S.-M., 1992, Trends of Technology Development of Friction Stir Welding Machine, Journal of Welding and Joining, 34:3 1-5. [https://doi.org/10.5781/JWJ.2016.34.3.1]
Kim, Y., Park, Y.-D., 2022, Joining Technologies and Solutions for Aluminum-based Battery Case Manufacturing, Journal of Welding and Joining, 40:1 54-73. [https://doi.org/10.5781/JWJ.2022.40.1.7]
Kim, H., 2021, Friction Stir Welding Experiment and FEM Analysis for Fillet Joint of Electric Vehicle Battery Frame, Master Thesis, Gyeongsang National University, Republic of Korea, <http://dcollection.gnu.ac.kr/common/orgView/000000029700, >.
Longhurst, W. R., 2009, Force Control of Friction Stir Welding, Doctorate Thesis, Vanderbilt University, U.S.A..
Longhurst, W. R., Strauss, A. M., Cook, G. E., 2011, The Identification of the Key Enablers for Force Control of Robotic Friction Stir Welding, J. Manuf. Sci. Eng., 133:3 31008-31019. [https://doi.org/10.1115/1.4004132]
Backer, J. D., 2021, Feedback Control of Robotic Friction Stir Welding, Doctorate Thesis, University West, Sweden.
Zhao, X., Kalya, P., Landers, R. G., Krishnamurthy, K., 2008, Design and Implementation of Nonlinear Force Controllers for Friction Stir Welding Processes, J. Manuf. Sci. Eng., 130:6 061011. [https://doi.org/10.1115/1.3006326]
Yoon, J., Kim, C., Rhee, S., 2018, Compensation of Vertical Position Error Using a Force-Deflection Model in Friction Stir Spot Welding, Metals, 8:12 1049. [https://doi.org/10.3390/met8121049]
Oh, M. S., Seo, J. H., Jung, S., 2016, Implementation of Position and Force Control by Modelling of a Miniatured Excavator, Journal of Institute of Control, Robotics and Systems, 22:12 1034-1039. [https://doi.org/10.5302/J.ICROS.2016.16.0081]
Jung, S., Jeong, D.-J., 2021, Admittance Force Tracking Control Schemes for Robot Manipulators under Environment and Dynamics, Int. J. Control Autom. Syst., 19:11 3753-3763. [https://doi.org/10.1007/s12555-020-0959-7]
Kim, H., Park, H., Yang, W., 2021, Variable Admittance Control Strategy for the Control Stability of Power Assist Robot according to Load Weight, J. Korea Soc. Precis. Eng., 38:3 177-185. [https://doi.org/10.7736/JKSPE.020.090]
Dorf, R. C., Bishop, R. H., 2008, Modern Control Systems, 11th edition, Prentice Hall, U.S.A..
Longhurst, W, R., Strauss, A, M., Cook, G. E., Cox, C, D., Hendricks, C. E., Gibson, B. T., Dawant, Y. S., 2010, Investigation of Force-controlled Friction Stir Welding for Manufacturing and Automation, Proc. IMechE, Part B: J. Engineering Manufacture, 224:6 937-949. [https://doi.org/10.1243/09544054JEM1709]
Busu, N., Jaffarullah, M. S., Low, C. Y., Shaari, M. S. B., Armansyah, Jaffar, A., 2015, A Review of Force Control Techniques in Friction Stir Process, Procedia Computer Science, 76 528-533. [https://doi.org/10.1016/j.procs.2015.12.331]

In-Gyu Park

Chief Researcher in Smart Mobility R&D Devision of KIRO. His research interest is Robotics.

E-mail: igpark@kiro.re.kr

Byeongjae Kim

Research Engineer in Machining Technology Center Institute of R&D of Hwacheon Machine Tool Co., Ltd.. His research interest is Machine.

E-mail: kbj@hwacheon.com

Jungwoo Lee

Chief Researcher in Smart Mobility R&D Division of KIRO. His main research topics include Deep Machine Learning and Software Engineering.

E-mail: ricow@kiro.re.kr

Jongdeuk Lee

Senior Researcher in Smart Mobility R&D Devision of KIRO. His research interest is Robotics.

E-mail: artofgene@kiro.re.kr

Seongjun Moon

Director in Machining Technology Center Institute of R&D of Hwacheon Machine Tool Co., Ltd.. His research interest is Machine.

E-mail: msj@hwacheon.com