全位置自动焊机焊枪摆动系统平稳性研究  

Research on the Stability of the Oscillation System of All-position Automatic Welding Robot

作　　者：孙法强[1] 纪文刚[2] 焦向东[2] 周灿丰[2] 曹军[3] 丁文斌[3] 

机构地区：[1]中国石油大学(北京),北京102249 [2]北京石油化工学院,北京102617 [3]海洋石油工程股份有限公司,天津300451

出　　处：《北京石油化工学院学报》2009年第2期24-27,共4页Journal of Beijing Institute of Petrochemical Technology

摘　　要：焊枪摆动系统的速度平稳性是焊接质量的重要保障。针对摆动系统低速运行特点,为了解决静摩擦和库伦摩擦给伺服系统带来的稳态误差和低速爬行问题,依据仿真通过增大比例增益来减轻低速爬行现象,提出了变参数的PI控制方案。经过对伺服电机实际测量得到低速爬行的速度范围,通过固定参数与变参数控制器速度响应对比,证实了增大比例增益能够减轻低速爬行问题,提高伺服控制系统运动性能。The speed stability of the oscillation system is an important guarantee for the quality of welding. Based on the low-speed running characteristics, the static friction and the Coulombic friction will lead to the steady-state error and the low-speed crawling problems to the servo system. To solve these problems, multi-PI parameters control method is proposed, in which the low-speed range is devided into 64 groups, and different Kp ,Ki parameters are designed for every speed after measurment and analysis. It is proved that this method can meet the accuracy need of the oscillation speed.

关 键 词：全位置焊接 低速运行 STRIBECK曲线 PI控制 

分 类 号：TP271.7[自动化与计算机技术—检测技术与自动化装置]