基于Fuzzy-PID复合控制的焊缝自动跟踪系统的研究
Study on Seam Tracking System Based on Fuzzy-PID Control
尹 懿， 张晨曙， 叶建雄， 张丽玲
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作者单位：（南昌工程学院 机械与电气工程学院, 江西 南昌 330099）
中文关键字： 焊缝跟踪； Fuzzy-PID复合控制； 光电传感器
英文关键字：seam tracking; Fuzzy-PID control; photoelectric sensor
中文摘要：采用点光源扫描的光电传感器对焊缝偏差进行检测，提出了一种传感器旋转摆动模型，建立了系统闭环控制结构图，利用Fuzzy-PID复合控制器实现焊缝跟踪。采用MATLAB对系统的控制性能进行仿真。仿真研究表明，采用传感器旋转摆动模型，简化了系统对传感器的要求，Fuzzy-PID复合控制的应用则提高了系统的精度。研制出一台样机，焊缝跟踪实验表明，系统跟踪精度高，满足实际生产应用要求。
英文摘要：A seam tracking system based on Fuzzy-PID control was studied. The system detects the welding seam by photoelectric sensor which scans a manual line. Based on analyzing movement process of tracking system, a sensor-rotating model and loop control structure diagram were presented. Fuzzy-PID controller was designed, and the fuzzy control table was got, which can be applied to control execution machine. A seam tracking system was produced based on these technologies. The simulation indicates that with the application of sensor-rotating model, the request of system to sensor greatly reduces and the using of Fuzzy-PID control improves the tracking accuracy. Seam tracking welding experiments show that the system tracking accuracy meets the demand of industrial manufacturing.