变结构PID在锻造操作机控制系统中的应用  

Variable-structure PID Control in Forging Manipulator

作　　者：谭宝成[1] 王大为[1] 俞开文[2] 

机构地区：[1]西安工业大学电子信息工程学院,西安710032 [2]西北工业大学航海学院,西安710072

出　　处：《西安工业大学学报》2009年第5期466-470,共5页Journal of Xi’an Technological University

基　　金：5T锻造操作机电气控制系统(H200811116)

摘　　要：针对5T锻造操作机在运送锻件过程中由于惯量较大引起的大滞后现象,将变结构PID控制技术引入锻造操作机的运动控制系统中.通过分析比较不同形式的PID控制方法,设计了基于在不同的偏差情况下P,PI,PD分段控制的变结构PID控制器.通过仿真对比不同的PID控制器所产生的锻造操作机速度变化曲线,对于标准PID、积分分离PID、变结构PID控制器达到匀速的时间分别为12.8 s,10.6 s,4.5 s.变结构PID在快速性和稳定性上明显优于标准PID和积分分离PID控制器.采用这种方法对操作机电液调速系统控制得到了满意的控制品质并取得了较好的效果.Variable-structure PID control strategy was applicabled to the motion control system of forging manpulator in the process of delivery to solve of greater inertia caused large time delay. Through comparative analysis of different PID control methods, variable-structure PID controller was designed based on the deviation in the different circumstances of P, PI, PD Sub-controlled. Through the simulation and the comparison of change curves of velocity between different PID controller of forging manipulator speed the time when, the standard PID, Integral Separation PID and variable structure PID controller used to achieve target speed were 12. 8s, 10. 6s and 4. 5s respectively. Variable-structure PID controller was superior to standard PID and Integral Separation PID controller. Using this control method, variable-structure PID realized the forging manpulator speed control. Its control capability is satisfied to meet the requirement.

关 键 词：5T锻造操作机 运动控制 变结构PID 电液调速系统 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]