摘要
本文设计了一种用于水下焊接机器人焊缝跟踪的复合FUZZY-PID控制器,采用模糊控制和PID并联的控制模式,在大的误差范围内采用FUZZY-PID控制,进行快速响应调整,在小的误差范围内采用传统线性PID控制进行小偏差的调整。两种控制模式采用基于阈值的切换方法,当焊缝偏差小于2mm时,采用PID控制,当偏差大于2mm时,采用模糊PID控制。通过试验可以看出,这种复合模糊PID控制器动态响应快,超调量小,稳态精度高,能够满足焊缝跟踪的要求。
In this paper ,a composite FUZZY-PID controller is designed used for underwater welding robot. The control model of FUZZY-PID parallel PID is used in this controller. FUZZY_PID control, is used in the large range of error , rapid response adjustment . Traditional linear PID control is used in the small range of error~ The switching methods of Two control modes based on the threshold . When Welding deviation is less than 2 mm, PID control is used, when deviation greater than 2 mm, fuzzy PID control is used. From the expriments can be seen, this composite FUZZY-PID controller dynamic response is fast, and the overshoot is small, the steady-state accuracy is high, It can be used to meet the requirements of seam tracking.
出处
《微计算机信息》
2009年第13期20-21,24,共3页
Control & Automation
基金
国家863计划项目:大型构件水下焊接机器人系统研究与开发(2007AA04Z242)
江西省科技攻关项目:水下焊接机器人系统与开发
