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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 and volatile chemical change process. During the welding process, the weld is easily affected by deformation, variable clearance and assembly error, resulting in large deviation of the weld during the welding process. In order to improve the welding quality, the welding robot needs to be controlled in real time To correct the deviation of the weld correction. Because welding has the characteristics of uncertainty, strong coupling and non-linearity, and the mathematical model is difficult to set up, a welding seam control method based on variable universe adaptive fuzzy PID compound is proposed. The control parameter auto-tuning And self-adjusting control rules, and apply it to weld robot tracking control system. Simulation and experimental results show that the control method is reliable, strong anti-interference ability, good tracking ability and accurate tracking of welding seam.