双电极电弧焊系统的非线性鲁棒自适应控制  

Nonlinear Robust Adaptive Control of Double-Electrode Gas Metal Arc Welding Process

作　　者：傅孝韬[1] 刘玉生[1] 王静[1] 

机构地区：[1]四川大学电气信息学院,成都610065

出　　处：《微计算机信息》2009年第22期11-13,48,共4页Control & Automation

基　　金：国家自然科学基金资助项目;基金申请人:刘玉生;项目名称:机器人焊接过程的非线性鲁棒自适应控制;颁发部门:国家自然科学基金委(60540420641)

摘　　要：本文针对可消耗双电极熔化极气体保护电弧焊接(DE-GMAW)系统,建立了一个双输入双输出非线性模型,并基于此提出了一种鲁棒自适应控制器的设计方法,可用于系统存在未建模动态和未知有界扰动的情况。应用Lyapunov稳定性理论证明,该鲁棒自适应控制器可保证整个系统的稳定性,且通过适当选择设计参数,可满足高精度的跟踪。仿真结果表明此控制器对DE-GMAW具有良好的控制效果。This paper establishes a muLtiple-input-multiple-output nonlinear model for the consumable double-electrode gas metal arc welding process （DE-GMAW）. Based on the model, a robust adaptive controller is designed. The controller can be used in the case where there exist unmodeled dynamics and unknown hounded disturbances. By using the Lyapunov stability theory, it is shown that the proposed adaptive control scheme guarantees the stability of the nonlinear system. Furthermore, the tracking error can be made arbitrarily small by choosing the design parameters appropriately. Simulation results show that the controller has a good performance when used in the DE-GMAW system.

关 键 词：未建模动态 非线性 鲁棒自适应控制 稳定性 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]