| 机器人焊缝跟踪的FUZZY-PID控制 |
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| 引用本文： | 叶建雄,张华.机器人焊缝跟踪的FUZZY-PID控制[J].焊接学报,2005,26(11):97-100. |
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| 作者姓名： | 叶建雄 张华 |
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| 作者单位： | 南昌大学,机电工程学院,南昌,330029;南昌大学,机电工程学院,南昌,330029 |
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| 摘 要： | 设计了一种模糊控制和PID控制相结合的混合控制器。利用模糊控制器充当调节器，在线调整PID的三个参数；利用PID作为控制器，实现控制量的精确输出。讨论了整个控制器的设计方法，并在相应模型的基础上进行了带扰动的控制模拟，结果表明参数在线得到了优化，说明该方法是合理和有效的。
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| 关 键 词： | fuzzy-pid 混合控制器 自适应 仿真 |
| 文章编号： | 0253-360X（2005）11-97-04 |
| 收稿时间： | 09 26 2005 12:00AM |
| 修稿时间： | 2005-09-26 |
Application of fuzzy-PID control on seam tracking for welding-robot |
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| YE Jian-xiong and ZHANG Hua.Application of fuzzy-PID control on seam tracking for welding-robot[J].Transactions of The China Welding Institution,2005,26(11):97-100. |
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| Authors: | YE Jian-xiong and ZHANG Hua |
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| Affiliation: | school of Mechanical and Electronic Engineering, Nanchang University, Nanchang 330029, China and school of Mechanical and Electronic Engineering, Nanchang University, Nanchang 330029, China |
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| Abstract: | A convenient and effective close loop control scheme, had been proposed to satisfy the aim of seam tracking based on the analysis of the welding-robot modeling and its control link in this paper. With the introduction of fuzzy controller and PID controller and with the adoption of the simulation on the differentiated modeling, the characteristics of the hybrid manipulator were illuminated. In the end, some conclusions were drawn on the base of analysis of the different response curves. |
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| Keywords: | fuzzy PID hybrid-manipulator self-adaptation simulation |
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