螺旋焊缝轨迹跟踪控制算法的分析与研究  

Analysis and Research of Spiral Seam Tracking Control Algorithm

作　　者：许纯昕[1] 季肖枫[1] 钱建忠 

机构地区：[1]南通航运职业技术学院,南通226010 [2]北京欧亚图科技有限公司,北京100096

出　　处：《价值工程》2014年第35期65-67,共3页Value Engineering

基　　金：南通航运职业技术学院2012年科学研究项目"螺旋焊缝自动跟踪超声检测系统关键技术的研究"(项目编号:HYKJ-2012A01)

摘　　要：分析和研究了超声波螺旋焊缝自动检测的轨迹跟踪控制算法。在对经典PID控制采用参数自整定算法、对模糊控制采用自调整因子算法的基础上,提出了一种新型复合控制算法。该算法结合了比例控制、模糊控制及PID控制,仿真结果表明,其具有响应速度快、超调量小、无静差等优点,提高了轨迹跟踪的实时性及精度。Trajectory tracking control algorithm for ultrasonic spiral weld automatic detection is analyzed and studied in the present paper. Based on the employment of parameter self-tuning algorithm for typical PID control and the employment of self-adjusting factor algorithm for fuzzy-control, a new composite control algorithm is proposed. The proposed algorithm combines P-control, fuzzy-control and PID control. According the result of simulation, it has advantages of quick response, small overshoot and steady-state error free, and it ensures real-time trajectory tracking with improved accuracy.

关 键 词：焊缝跟踪 自整定PID 自调整因子 复合算法 

分 类 号：TG409[金属学及工艺—焊接]