焊缝自动跟踪微机系统的数字控制器

On Digital Controller of Weld Seam Tracking Microcomputer System.

对焊缝自动跟踪微机系统中的数字控制器进行了分析研究。在焊缝自动跟踪系统中，除了电弧传感器之外，大部分的传感器都有检测点超前于焊接点的情况。本文针对这种有普遍意义的传感器超前检测的自动控制系统结构特点，分别设计了最少拍数字控制器、数字ＰＩＤ控制器以及一种实用型的数字控制器。这些数字控制器的仿真试验结果表明，本文提出的实用型数字控制器具有跟踪结构精度高（跟踪误差＜０．５ｍｍ），结构简单、计算方便（微机控制系统闭环传递函数＝１）等优点，因而是这类传感器超前检测式微机跟踪系统的比较合理的数字控制器。

The digital controller of automatic seam tracking microcomputer system is studied in this paper. In this kind of system the detecting point is usually leading to the welding point for the most of sensors except the welding arc sensor. The following three types of digital controllers have been built and analyzed for the welding tracking system with a leading sensor: minimum step digital controller, digital PID controller and so-called practical digital controller. The results of simulation tests show that the practical digital controller presented by authors is a reasonable control model for the microcomputer seam tracking system with leading sensor,because of its highest tracing accuracy (the tracing error<0.5 mm) and its simplest structure to simplify the calculating of the control variables (the close loop transfer function of the microcomputer control system equals 1).