变结构PID在铸坯去毛刺机中的应用

铸坯去毛刺机的液压升降机构的刀架辊重量较大,易引起滞后现象.为了使液压控制的刀架停在准确的设定位置,采用了变结构（Proportion Integration Differentiation,PID）控制方法.设计了位置误差在ξ1,ξ2,ξ3,ξ4不同偏差情况下选择P,PI,PID分段控制的变结构PID控制器.对系统响应时间与刀架的位置高度进行了仿真与实验.结果表明：变结构PID在快速性和稳定性上明显优于标准PID控制器,能够使刀架在2s内准确地停在设定的位置误差-2mm范围内.

Variable-structure PID Control in Slab Deburring Machines

The roller of cutter rest of hydraulic lifting mechanism of cast deburring machine is too heavy.It is subject to hysteresis.In order to control the accurate position of cutter rest,a variable structure PID control method is adopted.Subsection of variable structure PID controller of P,PI and PID is selected to control the position deviation of ξ1,ξ2,ξ3,ξ4.The system response time and the height of cutter rest are simulated.The results show that variable structure PID is superior to standard PID controller in speediness and stability.The controller achieves accurate locating the cutter rest with position error of 2mm in 2 seconds.