焊缝跟踪的变论域自适应模糊控制  

Adaptive fuzzy controller based on variable universe for seam tracking

作　　者：叶建雄[1] 张华[1] 杨武强[2] 

机构地区：[1]南昌大学机电工程学院,南昌330029 [2]南昌大学信息工程学院,南昌330029

出　　处：《焊接学报》2005年第12期32-34,共3页Transactions of The China Welding Institution

基　　金：国家863计划资助项目(2001AA422220)爬行式全位置焊机器人系统研究与产品开发

摘　　要：针对单纯的模糊控制器在焊接机器人的焊缝跟踪中的控制精度欠佳、自适应性不强等问题,设计了一种论域可调整的自适应模糊控制器,利用控制偏差和偏差的变化作为输入量,通过偏差和偏差变化率来自动调整变量的论域,从而提高控制精度。通过系统仿真,得到了很好的控制效果,使控制精度差和自适应能力不强等问题都得到了解决。Aiming at the problem that the precision and the self-adaption are not very well for the pure fuzzy controller in seam tracking of the welding robot, an adaptive fuzzy controller that the universe can be adjusted automatically was designed. The controller uses the windage and the speed of the windage variation as inputs, and adjusts the universe through the value of windage and windage variation. It can improve the precision and robustness of fuzzy controller. A satisfied effect are gotten by simulation.

关 键 词：论域可调 模糊控制器 自适应 仿真 

分 类 号：TG439.9[金属学及工艺—焊接]