基于模糊自适应整定PID的水下焊缝跟踪

针对水下焊接过程中焊缝跟踪控制的难点问题,设计了一种用于水下焊缝跟踪的模糊自适应整定PID(比例-积分-微分)控制器,采用模糊控制器充当调节器,在线调整PID控制器的3个参数,利用PID作为控制器,实现控制量的输出;讨论了该控制器的设计方法,并在相应模型的基础上进行了带扰动的控制模拟.仿真结果表明,该模糊自适应整定PID控制器的动态响应快、超调量小、稳态精度高、抗干扰能力强,能够满足水下焊缝跟踪的要求.

Underwater Seam Tracking Based on Fuzzy Self-adaptive PID

Aiming at the problem of the underwater seam tracking in welding process,a fuzzy self-adaptive PID(proportion-integration-differential)controller was designed for underwater seam tracking.The fuzzy controller is used as regulator to adjust the three parameters of PID online.PID is used as a controller to achieve output of the controlled variable.The designing method of the PID was discussed,and the control simulation was carried out on the basis of a disturbance using corresponding model.The simulation results show that this controller has the ability of fast dynamic response,small overshooting,high steady-state accuracy and strong anti-interference.It can meet the requirements of underwater seam tracking.