钢管捆自动成形系统电液比例控制研究

为了满足钢管生产过程中对钢管捆成形和包装的需要，对钢管捆自动成形电液比例系统进行了模糊比例-积分-微分(PID)控制研究.基于该系统的组成和工作原理，分析了双缸管排水平定位和竖直定位堆放控制问题，给出了管排竖直定位堆放误差的补偿算法.采用专家智能控制与模糊PID控制技术相结合，得到了具有二级结构的模糊PID控制策略，并对实际系统设计了相应的模糊PID控制器.系统控制结果表明，模糊PID控制器能修正各控制参数，提高了系统控制的自适应性和鲁棒性.与常规的PID控制器相比较，该控制器具有更好的系统运行性能.

Electro-hydraulic proportional control for steel pipe auto-shaping system

To satisfy the requirement of steel pipe bundle shaping and packing in steel pipe manufacturing,fuzzy proportional-integral-differential(PID) control of steel pipe bundle auto-shaping electro-hydraulic proportional system was studied.Based on the composition and working principle of the proposed system,horizontal position and vertical position-stacking control of pipe layer with dual cylinders were analyzed,and then a position error compensation algorithm was provided for pipe layer vertical position-stacking procedure.A two-step fuzzy PID control strategy was obtained with combination of expert-intelligent control and fuzzy PID control technology.A corresponding fuzzy PID controller was designed for actual system.System control results show that the fuzzy PID controller can modify control parameters,and improve the system self-adaptability and robustness.Compared with conventional PID controller,fuzzy PID controller has better running performance.