多输入多输出GTAW焊接过程的迭代学习控制  

Iterative Learning Control of Multi Inputs and Multi Outputs Gas Tungsten Arc Welding process

作　　者：刘建[1] 卜旭辉[1] 梁嘉琪[1] LIU Jian;BU Xu-hui;LIANG Jia-qi(School of Electrical Engineering, Henan Polytechnic University, Jiaozuo 454000, China)

机构地区：[1]河南理工大学电气学院

出　　处：《控制工程》2019年第10期1911-1916,共6页Control Engineering of China

基　　金：国家自然科学基金项目(61573129);河南省高校科技创新人才支持计划(16HASTIT046);河南省高等学校青年骨干教师计划项目(2014GGJS-041);河南省创新型科技人才队伍建设工程(CXTD2016054)

摘　　要：相同工件进行批量焊接时,焊接轨迹相同,因此焊接过程具有极高的重复性。针对焊接过程的重复性,基于迭代学习控制算法研究GTAW焊接在两输入两输出时的跟踪控制问题。根据GTAW焊接的动态特性模型,设计了焊接过程控制的迭代学习控制算法,并分析了算法的收敛性。仿真结果表明:迭代学习控制可以有效利用焊接过程中的重复信息,经过80次的迭代学习后,焊接系统实际输出可以较好地达到期望轨迹,实现有限区间内的高精度跟踪控制,验证了方法的有效性。与传统PID控制相比,ILC控制器可以获得较好的控制效果。The welding of same parts have the same welding trajectory, so the welding process has strong repeatability. Aiming at the repeatability of welding process, the tracking control problem of gas tungsten arc welding process with double input and output is studied based on iterative learning control. According to the dynamic model of gas tungsten arc welding, the iterative learning control algorithm of welding process control is designed, and the convergence of the algorithm is analyzed. It turns out that the repeated information of welding can be used effectively by the iterative learning control in the process of welding. After 80 times of iteration, the actual output of the welding system can better track on the desired trajectory and realize the high precision tracking control in the finite interval. It verifies the effectiveness of the proposed method. The better tracking performance can be acquired by ILC in contrast to PID algorithm.

关 键 词：GTAW焊接 迭代学习控制 两输入两输出 跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]