焊缝跟踪FUZZY—P控制规则的研究

STUDY ON THE FUZZY-P CONTROL RULES IN THE SEAM TRACKING

介绍了一种非接触超声传感焊缝跟踪系统。该焊缝跟踪系统采用了Ｆｕｚｚｙ—Ｐ控制理论，即在大偏差时采用比例控制，在小偏差时采用自调整模糊控制。研究了Ｆｕｚｚｙ－Ｐ控制的阈值和比例控制的规则。介绍了自调整模糊控制的原理，提出了焊缝跟踪中的双因数自调整模糊控制方法。在试验的基础上确定了双因数的数值。应用公式法生成了模糊控制规则表。同时分析了自调整模糊控制中的比例系数对系统动态特性的影响。通过试验确定了该系统中的比例系数的数值。试验证明，该跟踪系统具有快速、准确、稳定的特点，完全能够满足实际工程应用的需要。

A seam tracking system with contactless ultrasonic sensor is introduced. Fuzzy-P control theory is used in the seam tracking system. That is: the P control(proportional control) is adopted when the error of the seam position is great, and the self - tuning fuzzy control is adopted when the error of the seam poSition is small. Firstly, the threshold value of the Fuzzy-P control and the control rules of the proportional control are studied. Then, the principle of the self - tuning fuzzy control is presented. The two factors self - tuning fuzzy control method is put on the seam tracking. And the fuzzy control rules are generated by checking the table. Based on the experiments, the values of factors are determined. Meanwhile, it is analyzed which the system's dynamic characteristics are influenced by the scale factor. The scale factor value in the system is determined by the experiments. The experimental results show that the system has highly response speed, precision and stability and the system can satisfy the requirements of the engineering application.