基于模糊PID的水下金刚石绳锯机张紧力控制策略研究  

Research on the Control Strategy of Underwater Diamond Wire Saw Based on Fuzzy PID

作　　者：徐田丰 杨启[1,2,3] Xu Tian-feng;Yang Qi(State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai Jiao Tong University Underwater Engineering Institute Co.Ltd.,Shanghai 200231,China)

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200240 [2]上海交通大学高新船舶与深海开发装备协同创新中心,上海200240 [3]上海交通大学海洋水下工程科学研究院有限公司,上海200231

出　　处：《海洋工程装备与技术》2020年第5期286-291,共6页Ocean Engineering Equipment and Technology

摘　　要：以水下金刚石绳锯机这一切割机械为研究对象,建立金刚石绳锯切割系统的动力学模型,对磨削过程中绳锯及金刚石串珠进行力学分析,构建以切割链张紧力为输出的切割系统状态空间方程。在此基础上,提出一种基于模糊PID的切割链张紧力控制策略。分别进行恒张力控制与动态张力控制仿真试验,在仿真中引入系统参数的摄动以检验该控制方法的鲁棒性。将文中控制方案的结果与传统PID控制方法的结果进行对比,结果表明,模糊PID控制相较于传统PID控制具有较强的鲁棒性,对于动态目标具有较好的控制性能,能有效减少切削过程中张紧力的波动,提高控制精度。Taking the underwater diamond wire saw machine as the research object,this study establishes the dynamic model of the diamond wire saw cutting system.The mechanical analysis of the saw wire and diamond beads during the grinding process is carried out,and the stale space equation of the cutting system is established,in which the saw wire tension is the output.On this basis,a saw wire tension control method based on fuzzy PID is proposed.The simulation experiments of the constant tension control and dynamic tension control are carried out respectively,and the perturbation of the system parameters is introduced in the simulation to verify the robustness of the fuzzy PID control method.Comparing the results of fuzzy PID control method in this paper with the results of the traditional PID control method,the results show that the fuzzy PID control is more robust than traditional PID control,and has better control performance for dynamic targets,which can effectively reduce the fluctuation of the tension force in the cutting process and improve the control accuracy.

关 键 词：水下金刚石绳锯机 磨削 张紧力 模糊PID 鲁棒性 

分 类 号：P756[天文地球—海洋科学]