Grinding Constant Force Control based on PID Controller with Nonlinear Differential Link Optimized by Differential Evolution Algorithm

During conventional robotic grinding operations, effective control of constant force grinding can avoid damage to the workpiece to be ground. However, the current research has some shortcomings in the control of constant force for grinding. In this study, a method based on a PID controller with nonlinear differential link is proposed to control the variation of the output force of the device during the grinding process. The nonlinear differential link can effectively suppress the overshoot phenomenon. The differential evolution algorithm is used to optimize the seven parameters of the PID controller to achieve the best control effect. Simulation experiments are conducted in Simulink of MATLAB for the controller designed in this study. The results show that the controller not only successfully suppresses the overshoot phenomenon but also reduces the response time of the system. It shows that this method has considerable potential for various types of robotic grinding operations.