一种基于生物智能控制算法的焊缝跟踪控制系统

Welding Seam Tracking control system base on biological intelligent control algorithm

焊接自动化的关键技术是焊缝跟踪。针对传统PID在焊缝跟踪过程中存在快速性和平稳性的矛盾问题,提出一种基于睾丸素分泌调节原理的两级生物智能控制器,一级控制单元根据控制偏差的大小动态调整二级控制单元的给定值输入,从而可迅速、稳定地消除控制偏差,并针对焊缝跟踪系统的电机位置进行精确的自适应跟踪控制。仿真结果表明,该生物智能控制器具有动态性能好、收敛速度快、控制精度高等优点。

Welding seam tracking technology, is the key of Welding Automation.In view of contradiction between rapidity and stationary existed in the welding seam tracking progress of conventional PID control algorithm.In this paper,a new biological intelligent controller which is basis on the modulation principle of testosterone release is introduced ,its master control unit and the second control unit are designed with proportional control and conventional PID control,and the master control unit dynamically adjusts set input of the secondary control according to the control error,so as to eliminate control error rapidly and stably.Finally ,the adaptively adopt accurate tracking control is finished on the motor position of welding seam tracking system.The resuhs show that the new biological intelligent controller has many advantages such as good dynamics,fast convergence rate,high eontrolled resolution.