基于内模控制的分数阶伺服焊钳控制  

Fractional servo welding tongs control based on internal model control

作　　者：刘锋 高忠林[1] 路向琨 翟宝亮 徐昊[1] LIU Feng;GAO Zhonglin;LU Xiangkun;ZHAI Baoliang;XU Hao(Tianjin 707 Hi-tech Co.,Ltd.,Tianjin 300131,China)

机构地区：[1]天津七所高科技有限公司,天津300131

出　　处：《中国测试》2021年第12期114-119,共6页China Measurement & Test

摘　　要：针对点焊过程中伺服焊钳的重复定位精度差、速度响应慢等问题,利用伺服焊钳电机模型,采用分数阶低通IMC滤波器,建立基于CRONE原理的分数阶PID参数整定模型,设计一种基于内模控制的直流伺服电机的分数阶控制器,可以提高伺服焊钳控制的稳定性和精确性。通过仿真对控制系统进行阶跃响应测试、跟踪性能测试以及模型不匹配时适用性测试,仿真结果表明,该控制器跟踪精度高、响应速度快、调速范围宽、低速稳定性好,适用性好,比传统分数阶PID设计的控制器表现更加优异,验证该控制器的有效性。同时,由于采用CRONE原理进行分数阶PID控制器参数整定,只需要2个调节参数,大大简化参数整定过程。Aiming at the problems of poor repetitive positioning accuracy and slow speed response of the servo welding gun during the spot welding process,using the servo welding gun motor model and using a fractional low-pass IMC filter,a fractional PID parameter tuning model based on the principle of CRONE is established.A fractional-order controller of DC servo motor based on internal model control is designed,which can improve the stability and accuracy of servo welding gun control.Step response test,tracking performance test,and suitability test when the model does not match are performed on the control system through simulation.The simulation results show that the controller has high tracking accuracy,fast response speed,wide speed range,good low-speed stability,and good applicability.It performs better than the traditional fractional PID design controller,which verifies the effectiveness of the controller.At the same time,because the CRONE principle is used for the parameter tuning of the fractional PID controller,only two adjustment parameters are needed,which greatly simplifies the parameter tuning process.

关 键 词：伺服焊钳 内模控制 CRONE原理 分数阶PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]