Robot焊接过程自适应模糊控制研究  

Study of Adaptive Fuzzy Control for Welding Process of the Robot

作　　者：李鑫[1] 周欣荣[1] 牛滨[1] 

机构地区：[1]哈尔滨理工大学测控技术与通信工程学院,黑龙江哈尔滨150040

出　　处：《哈尔滨理工大学学报》2004年第6期21-23,共3页Journal of Harbin University of Science and Technology

基　　金：哈尔滨市重点科技攻关项目(0011211007)科技部创新基金项目(02C262300541)

摘　　要：针对水轮机修复专用机器人工作环境恶劣,焊接过程干扰大、非线性、强耦合等特点,采用了自适应理论和模糊控制理论,设计了焊接自适应模糊控制系统.软件仿真表明,该模糊控制系统稳定性好、阶跃响应的超调小、调整时间短.According to the awful working condition for the special robot repairing hydraulic turbines and the characteristics of the welding process, such as disturbances, nonlinearity, strong coupling and so on, a kind of adaptive fuzzy control system for weld is designed on basis of adaptive theory and fuzzy control theory. Simulation results have proved that the control system has a good performance for step response with better stability, less overshoot and regulative time.

关 键 词：水轮机修复 机器人 焊接 自适应模糊控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]