基于AC-PID控制器的焊接机器人仿真  

Simulation on welding robot system based on AC-PID controller

作　　者：张超[1] 王琦[1] 姚永刚[1] 

机构地区：[1]河南机电高等专科学校,河南新乡453002

出　　处：《焊接技术》2013年第7期41-43,53+5,共4页Welding Technology

摘　　要：焊接机器人系统的核心是伺服系统,该伺服系统电机位置的精确控制是焊接机器人技术的关键,传统的PID控制算法很难对其进行精确地自适应跟踪控制。本文介绍了一种执行-评价器的自适应PID控制(AC-PID)算法,并针对焊接机器人伺服系统的电机位置进行精确地自适应跟踪控制。仿真结果表明,基于改进的AC-PID算法的控制器在鲁棒性、控制精度和控制效果都优于传统的PID控制器。Servo system is the most important part of welding robot which the motor position accurate control is the key.It is difficult to adaptively adopt accurate tracking control on welding robot system by traditional PID control algorithm.In this paper,a new Actor-Critic PID(AC-PID) algorithm which the AC network is BP neural network is introduced to solve the problem adaptively adopt accurate tracking control on the motor position of servo system.The results show that new AC-PID algorithm has the better robustness,control accuracy and control effects than traditional PID control algorithm.

关 键 词：执行-评价器PID控制 伺服系统 焊接机器人系统 

分 类 号：TG441.7[金属学及工艺—焊接]