高精度数控焊接变位机控制系统设计与实现

研制弧焊机器人用数控焊接变位机对弧焊机器人柔性加工单元(WEMC)的设计具有重要的意义。作者以基于数字信号处理器(DSP)的研华多轴运动控制卡PCL-832卡为设计核心，采用基于模糊规则的智能双模协调控制器，即采用比例积分微分控制器(PID)和模糊控制器的加权合成算法，控制过程中模糊控制器和PID控制器同时输出控制量，当控制误差较大时模糊控制器的输出权重较大，而当控制误差较小时PID控制器的输出权重较大，有效避免了变结构控制器切换过程中的震荡，实现了焊接变位机的高精度位置控制。作者对实时控制软件的结构设计和实时性要求进行了详细的理论分析，提出了基于DOS(Disk operation system)系统下的高精度数控焊接变位机多任务实时控制软件的设计与实现方法。进行了多种工件的焊接试验，试验表明该控制系统工作可靠，效果良好。

Design and implementation of control system for numerically controlled welding positioner

The development of numerically controlled positioner for arc-welding robot is of vital importance to the design of welding flexible manufacturing center (WEMC) of arc-welding robot.The control system has taken 2-aixs servo motor control card as its core and use the two-mode controller that based on Fuzz and PID control method as its position controller.In two-mode controller,the outputs of Fuzz and PID act on object at the same time,but weights of the Fuzz and PID are differ from value of error.The weight of Fuzz controller is big when error is big; on the other hand the weight of PID controller is big when error is small.This structure avoids concussion effectively when from one controller switch to other controller.Two-mode controller has realized the precise control over position of welding positioner.The thesis has made a detailed theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time controlled software of high precisely numerically controlled welding positioner,which has a good result in practice.