基于模糊PID的收放线机构线缆张力控制研究  

Cable Tension Control of a Wire Winding and Unwinding Mechanism Based on Fuzzy PID

作　　者：方继根 胡宗耀 FANG Jigen;HU Zongyao(School of Mechanical and Electrical Engineering,Anhui Jianzhu University,Hefei Anhui 230601,China)

机构地区：[1]安徽建筑大学机械与电气工程学院,安徽合肥230601

出　　处：《长沙大学学报》2025年第2期18-25,共8页Journal of Changsha University

基　　金：安徽省高校省级自然科学研究项目-重点项目“雨污水管道巡检维护机器人研制与特性研究”(2023AH050167);安徽省住房城乡建设科学技术计划项目“面向狭长管网的管道巡检维护机器人研发”(2022-YF176)。

摘　　要：收放线机构作为一种既能配合有缆移动设备收放线缆,又能作为线缆储存容器的装置,其设计与使用需求日益显著。研究设计了一款新型收放线机构,具备线缆自动收放与自动排线功能。该机构通过结构设计,仅凭单电机即可实现线缆的自动收放与有序排线,显著降低了控制系统设计的难度;且将电机内置于滚筒中,提升空间利用率与电机防水性。基于该收放线机构,设计了一种模糊PID张力控制策略,实现了对线缆张力的恒定控制。通过MATLAB Simulink,将其与传统PID控制策略在10 N张力控制下的效果进行仿真对比,结果显示,模糊PID策略在调节速度、稳定性及抗干扰能力上均优于传统PID。最后,构建样机试验平台进行测试,对收放线机构分别采用两种控制方法进行放线控制性能、收线控制性能及抗干扰能力测试,测试结果与仿真结果相符。The Wire Winding and Unwinding Mechanisms,serves as devices,which can cooperate with cabled mobile equipment to wind and unwind cables and act as a cable storage container,has a significantly increasing requirements on design and usage.This paper introduces a new automatic cable winding,unwinding and orderly cable arrangement mechanism for wire.Through structural design,this mechanism achieves the expected effect using a single motor only,significantly reducing the complexity of the control system design.Furthermore,the innovative integration of the motor within the roller enhances space utilization and motor waterproofing.Based on the proposed Mechanism,a fuzzy PID tension control strategy is also designed in this paper to achieve constant tension control of the cable.Through MATLAB Simulink,a simulation comparison of this strategy with the traditional PID control strategy under 10 N tension control is conducted.The results show that the fuzzy PID strategy outperforms the traditional PID in terms of adjustment speed,stability,and anti-interference capability.Finally,a prototype test platform is constructed,and the Wire Winding and Unwinding Mechanism is tested using the two control methods in terms of cable unwinding control performance,cable winding control performance,and anti-interference capability.The test results are consistent with the simulation results.

关 键 词：结构设计 张力控制 模糊PID控制 系统仿真 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]