激光光路控制电磁作动器的模糊PID控制特性分析

为了实时控制激光切割中激光焦点与辅助气体中轴线的相对位置，提出了一种模糊PID控制的电磁作动永磁复位式3自由度电磁作动器。介绍了电磁作动器结构，建立了相应系统数学模型。采用模糊PID控制算法以仿真与实验相结合的方式研究了电磁作动器的控制特性，并在PID控制器参数完全相同情况下，与传统PID控制算法的控制特性进行对比分析。仿真与实验结果表明：在x轴方向，与传统PID控制算法位置响应时间相比，仿真位置响应时间变化不大，实验位置响应时间减少1.50 s；在y轴方向，与传统PID控制算法位置响应时间相比，仿真位置响应时间减少0.48 s，实验位置响应时间减少1.88 s. 经过对模糊PID控制器参数的进一步优化，作动平台在x轴方向响应时间可达0.10 s. 与传统PID控制器相比，模糊PID控制器响应时间更短、响应速度更快。

Analysis of Fuzzy PID Control Characteristics on Electromagnetic Actuator for Laser Optical Path Control

A three-degree-of-freedom electromagnetic actuator, which is driven by electromagnetic force and reset by permanent magnetic force, is proposed for the real-time control of the relative position of laser focus and auxiliary gas central axis in the laser cutting process. The actuator's structure is introduced, and a mathematical model is established. The control characteristics of fuzzy PID control algorithm are analyzed through simulation and experiment, and compared with those of the traditional PID control algorithms under the condition of same PID parameters. The simulated and experimental results indicate that，in x-axial direction, the position response time in simulation has little change, and the position response time in experiment is shortened by 1.50 s; in y-axial direction, the position response times in simulation and experiment are reduced by 0.28 s and 1.88 s, respectively. After optimizing the parameters of fuzzy PID controller, the response time in x-axial direction can be reduced to 0.10 s. Compared with the actuator with traditional PID controller, the actuator with the fuzzy PID controller has the advantages of shorter response time and faster response speed.