| Robot焊接过程自适应模糊控制研究 |
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| 引用本文： | 李鑫,周欣荣,牛滨. Robot焊接过程自适应模糊控制研究[J]. 哈尔滨理工大学学报, 2004, 9(6): 21-23 |
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| 作者姓名： | 李鑫 周欣荣 牛滨 |
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| 作者单位： | 哈尔滨理工大学,测控技术与通信工程学院,黑龙江,哈尔滨,150040;哈尔滨理工大学,测控技术与通信工程学院,黑龙江,哈尔滨,150040;哈尔滨理工大学,测控技术与通信工程学院,黑龙江,哈尔滨,150040 |
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| 基金项目： | 哈尔滨市重点科技攻关项目(0011211007)科技部创新基金项目(02C262300541) |
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| 摘 要： | 针对水轮机修复专用机器人工作环境恶劣，焊接过程干扰大、非线性、强耦合等特点，采用了自适应理论和模糊控制理论，设计了焊接自适应模糊控制系统．软件仿真表明，该模糊控制系统稳定性好、阶跃响应的超调小、调整时间短．
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| 关 键 词： | 水轮机修复 机器人 焊接 自适应模糊控制 |
| 文章编号： | 1007-2683(2004)06-0021-03 |
| 修稿时间： | 2004-07-19 |
Study of Adaptive Fuzzy Control for Welding Process of the Robot |
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| LI Xin,ZHOU Xin-rong,NIU Bin. Study of Adaptive Fuzzy Control for Welding Process of the Robot[J]. Journal of Harbin University of Science and Technology, 2004, 9(6): 21-23 |
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| Authors: | LI Xin ZHOU Xin-rong NIU Bin |
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| Abstract: | According to the awful working condition for the special robot repairing hydraulic turbines and the characteristics of the welding process, such as disturbances, nonlinearity, strong coupling and so on, a kind of adaptive fuzzy control system for weld is designed on basis of adaptive theory and fuzzy control theory. Simulation results have proved that the control system has a good performance for step response with better stability, less overshoot and regulative time. |
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| Keywords: | turbine blade repairing robot welding adaptive fuzzy control |
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