基于生物智能控制算法的焊接机器人控制系统仿真  

Simulation on welding robot system based on biological intelligent control algorithm

作　　者：王琦[1] 芦家成[1] 张超[1] 王淼[2] 

机构地区：[1]河南机电高等专科学校,河南新乡453002 [2]新乡职业技术学院,河南新乡市453002

出　　处：《焊接技术》2014年第3期44-46,6,共3页Welding Technology

基　　金：河南教育厅科研项目(13A413215);新乡市科技局科研项目(13GY28);大学生创新创业训练计划项目(201210708049)

摘　　要：焊接机器人系统的核心是伺服系统,伺服系统电机位置的精确控制是焊接机器人技术的关键,针对传统的PID在焊缝跟踪过程中存在快速性和平稳性矛盾的问题,本文介绍了一种基于激素分泌调节超短反馈原理的生物智能控制器(NUC),该控制器在传统PID控制器的基础上增加了超短反馈处理模块,处理过的信号和传统控制单元输出信号经过计算,构成了一种非线性控制算法。针对焊接机器人伺服系统的电机位置进行精确的自适应控制。仿真结果表明,该控制器具有动态性能好、收敛速度快、控制精度高等优点。Servo system was the most important part of welding robot which the motor position accurate control was the key.In view of contradiction between rapidity and stationary existed in the welding seam tracking progress of conventional PID control algorithm.In the paper,a new biological intelligent controller which was based on ultrashort feedback of mechanism of endocrine system was introduced,this controller increased the ultra-short feedback processing module compare with traditional PID controller.The processed signals and traditional control output signal was calculated by this controller,and nonlinear algorithm was formed.Finally,the adaptively adopt accurate control was finished on the motor position of servo system.The results showed that this new controller had many advantages such as good dynamics,fast convergence rate,high controlled resolution.

关 键 词：生物智能控制 伺服系统 焊接机器人系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TG409[自动化与计算机技术—控制科学与工程]