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考虑到天然气管道滚弯加工过程中,管口成形曲率精度不高对输送质量造成的不良影响,提出了基于参数自适应模糊PID动态过程在线矫圆控制新方法。分析了具有双向预弯功能的对称倾斜下调式三辊卷板机的工作原理及其工作中液压伺服系统的非线性和不确定性的特点,建立基于Matlab卷板机矫圆控制系统的数学模型,进行仿真试验。结果表明,将自适应模糊PID算法运用于矫圆控制系统,能有效地解决单纯使用PID控制不能在线调整参数的难题,模糊PID控制系统能以较小的超调量保证控制系统的稳定性,同时控制矫圆误差仅有0.05%,从而验证了将模糊PID控制算法运用于卷板机矫圆控制系统的合理性和有效性。
Considering the negative influence on the conveying quality caused by the poor precision of the forming curvature of the pipe during the rolling process of the natural gas pipeline, a new method of online rounding control based on the adaptive fuzzy PID of parameters is proposed. The working principle of the symmetrical inclined down three-roller bending machine with two-way pre-bending function and the nonlinear and uncertainty characteristics of the hydraulic servo system in operation are analyzed. The mathematic model of the circle-bending control system based on Matlab is established , Simulation test. The results show that the adaptive fuzzy PID algorithm is applied to the circle control system, which can effectively solve the problem that the parameters can not be adjusted online using PID control alone. The fuzzy PID control system can guarantee the stability of the control system with a small overshoot, At the same time, the control rounding error is only 0.05%, which verifies the rationality and effectiveness of the fuzzy PID control algorithm applied to the bending circle control system of the bending machine.