比例模糊滑模控制在焊缝跟踪中的运用  

Application of proportion and fuzzy-sliding control method upon the weld tracking

作　　者：熊勇[1] 张华[1] 贾剑平[1] 李志刚[1] 

机构地区：[1]南昌大学江西省机器人与焊接自动化重点实验室,江西南昌330031

出　　处：《焊接技术》2009年第8期42-44,共3页Welding Technology

基　　金：国家高技术研究发展计划(863)项目(2007AA04Z242);江西省科技攻关项目资助(2007BG09100)

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,设计了一种新的用于水下焊接机器人焊缝跟踪的比例模糊滑模控制器。控制器采用基于某阈值的切换方法。当焊缝偏差>4mm时,采用P控制,提高系统的响应速度;当偏差<4mm时,采用模糊滑模控制,实现平滑跟踪,且鲁棒性好。通过对系统仿真和试验,获得很好的焊缝跟踪效果。Aiming at the problem that the precision and the self-adaption were not very well for the pure fuzzy controller in seam tracking of the welding robot,a P-fuzzy sliding mode controller was designed used for underwater welding robot in the paper. Controller was designed based on a switching threshold. When the seam deviation was greater than 4 mm,using P control to improve the system response time. When the seam deviation was less than 4 mm,using fuzzy sliding mode control to achieve smooth and robust tracking. Through the simulation and the experiment,a good result was obtained for weld tracking.

关 键 词：焊缝跟踪 比例控制器 模糊滑模控制器 鲁棒性 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]