焊接机器人焊缝模糊PID跟踪控制  

Fuzzy PID Tracking Control for Welding Robots

作　　者：李坤全[1] 文睿[2] 

机构地区：[1]河南工程学院机械工程学院,郑州451191 [2]河南工程学院土木工程学院,郑州451191

出　　处：《控制工程》2017年第2期351-354,共4页Control Engineering of China

基　　金：河南省教育厅科学技术重点研究项目(14B460012)

摘　　要：焊接是一个复杂多变的化学变化过程,焊接过程中焊缝易受到变形、变间隙以及装配误差的影响,导致焊接过程中焊缝出现较大偏差,为了提高焊接质量需要对焊接机器人进行实时控制以对焊缝偏差进行纠偏。由于焊接具有不确定性、强耦合、非线性特点且数学模型建立困难,为此提出了一种变论域自适应模糊PID复合的焊缝控制方法,采用变论域模糊控制实现控制参数自整定和控制规则的自调整,并将其应用于焊接机器人焊缝跟踪控制系统中。仿真与实验结果表明,该控制方法可靠好,抗干扰能力强,跟踪能力好,能够实现焊缝的精确跟踪。Welding is a complex chemical process, and the weld in the welding process is susceptible to deformation, the impact of variable-clearance, as well as assembly errors, which leads to deviations in welding in the welding process, in order to improve the quality of welding required for real-time control of the welding robot in the weld deviation correction. Because of the uncertainty, strong coupling and nonlinear characteristics of welding, and the difficulty of establishing the mathematical model, this paper proposes a variable universe adaptive fuzzy PID compound control method of weld, using fuzzy control to realize the self-tuning of variable region control parameters and self-adjusting of control rules, and applies it in the welding seam tracking control of robot systems. The simulation and experimental results show that the control method is reliable, has strong anti-interference ability, good tracking ability, and can achieve accurate tracking of the weld.

关 键 词：焊缝偏差 变论域 模糊PID控制 焊缝跟踪 

分 类 号：TP316.7[自动化与计算机技术—计算机软件与理论]