A polishing model of active-passive compliant control was built by the advantages of active compliant control, and the force control method with the force outer loop and position inner loop during the polishing, the force controller design with the internal model control (IMC) was presented, the tracking with no static errors about the force was implemented. The experimental results show that the method improves the efficiency and quality of aluminum alloy wheel (aluminum wheel) surface, and verifies the rationality of the force controller.

利用主动柔顺控制抛光的优点，建立了一种主被动柔顺控制抛光模型，采用力外环-位置内环控制策略对抛光过程作用力进行控制，提出了基于内模控制的力控制器设计方法，实现了对抛光力的无静差跟踪。实验结果表明，该方法有效提高了铝合金汽车轮毂（铝轮）曲面抛光的质量和效率，验证了力控制器设计的合理性。