基于Fuzzy-PID复合控制的焊缝自动跟踪系统的研究  

Study on Seam Tracking System Based on Fuzzy-PID Control

作　　者：尹懿[1] 张晨曙[1] 叶建雄[1] 张丽玲[1] 

机构地区：[1]南昌工程学院机械与电气工程学院,江西南昌330099

出　　处：《热加工工艺》2010年第13期120-123,128,共5页Hot Working Technology

基　　金：江西省自然科学基金资助项目(2008GZC0070);江西省教育厅科技计划项目(GJJ08449)

摘　　要：采用点光源扫描的光电传感器对焊缝偏差进行检测,提出了一种传感器旋转摆动模型,建立了系统闭环控制结构图,利用Fuzzy-PID复合控制器实现焊缝跟踪。采用MATLAB对系统的控制性能进行仿真。仿真研究表明,采用传感器旋转摆动模型,简化了系统对传感器的要求,Fuzzy-PID复合控制的应用则提高了系统的精度。研制出一台样机,焊缝跟踪实验表明,系统跟踪精度高,满足实际生产应用要求。A seam tracking system based on Fuzzy-PID control was studied. The system detects the welding seam by photoelectric sensor which scans a manual line. Based on analyzing movement process of tracking system, a sensor-rotating model and loop control structure diagram were presented. Fuzzy-PID controller was designed, and the fuzzy control table was got, which can be applied to control execution machine. A seam tracking system was produced based on these technologies. The simulation indicates that with the application of sensor-rotating model, the request of system to sensor greatly reduces and the using of Fuzzy-PID control improves the tracking accuracy. Seam tracking welding experiments show that the system tracking accuracy meets the demand of industrial manufacturing.

关 键 词：焊缝跟踪 FUZZY-PID复合控制 光电传感器 

分 类 号：TG444.2[金属学及工艺—焊接]