水轮机修复专用机器人焊接(MAG焊)Fuzzy控制器设计

Design of Fuzzy Controller for the Welding Process in Turbine Blade Repairing Robot

为了在复杂环境下提高自动化焊接质量,依据模糊集合理论,结合项目工程实际应用需要,提出了水轮机修复专用机器人焊接系统构成,给出了模糊控制器的结构设计,选择焊接电压误差、焊接电压误差变化和送丝速度作为基本论域,建立了模糊控制器的控制规则.实际应用表明,在平板平焊情况下,其焊接平滑性、稳定性明显优于人工焊接质量.

To improve the automatic weld quality in complex condition, based on fuzzy set theory and to meet the demand for the practical project application, we put forward a system construction of turbine blade repairing robot and in this paper I present the configuration design of fuzzy controller. In the design, the following three parameters are chosen as fundamental universe of discourse ： the error of welding voltage, the change of this error and the feed velocity of the rolling machine. Then, the control rules of the fuzzy controller are set up. Practical application shows that in fiat -board plane weld the weld flatness and stability is obviously better with fuzzy controller than manual work.