| FOPID在船舶焊缝跟踪控制中的应用 |
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| 引用本文： | 屠虞东,茅云生. FOPID在船舶焊缝跟踪控制中的应用[J]. 造船技术, 2021, 0(2): 56-60 |
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| 作者姓名： | 屠虞东 茅云生 |
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| 作者单位： | 武汉理工大学高性能船舶技术教育部重点实验室;武汉理工大学交通学院 |
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| 摘 要： | 针对船用焊接机器人焊缝跟踪问题,提出一种分数阶比例积分微分(Fractional Order Proportion Integration Differentiation,FOPID)控制技术.根据FOPID控制原理,设计FOPID控制器.针对FOPID特有的控制参数λ和μ,通过阶跃响应试验确定最佳论域范围,优化设计F...
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| 关 键 词： | 焊缝跟踪控制 FOPID 阶跃响应 |
Application of FOPID in Ship Weld Tracking Control |
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| TU Yudong,MAO Yunsheng. Application of FOPID in Ship Weld Tracking Control[J]. Journal of Marine Technology, 2021, 0(2): 56-60 |
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| Authors: | TU Yudong MAO Yunsheng |
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| Affiliation: | (Key Laboratory of High Performance Ship Technology of Ministry of Education,Wuhan University of Technology,Wuhan 430063,Hubei,China;School of Transportation,Wuhan University of Technology,Wuhan University of Technology,Wuhan 430063,Hubei,China) |
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| Abstract: | In terms of the weld tracking problem of marine welding robot,a Fractional Order Proportion Integration Differentiation(FOPID)control technology is proposed.According to the FOPID control principle,the FOPID controller is designed.In terms of the unique control parametersλandμof FOPID,the optimal theory domain range is determined by the step response test to optimize the FOPID controller.The various performances of FOPID controller are tested through the simulation tests and compared with the traditional Proportion Integration Differentiation(PID)controller.The results show that the FOPID controller possesses high accuracy,strong anti-interference and strong robustness,and can meet the work requirements. |
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| Keywords: | weld tracking control FOPID step response |
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