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。
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.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2005年第11期97-100,共4页
Transactions of The China Welding Institution
关键词
FUZZY-PID
混合控制器
自适应
仿真
Computer simulation
Control systems
Fuzzy control
Industrial robots
Programmable logic controllers
Quality assurance
Quality control
Robustness (control systems)
Sampling
Sensors
Three term control systems
Transfer functions
Welds
