基于滑模与状态反馈模糊加权控制的气动伺服焊枪柔性接触研究

Low-Impact Contact Study Based on Fuzzy Weighed Control of Sliding-Mode and State Feedback for Pneumatic Servo Welding Gun

在焊枪电极接近运动过程中,期望接近速度大且在接触面附近快速降速以减小接触时的冲击力,实现一种柔性接触,对于提高焊接的效率和质量具有很重要的作用.滑模控制虽然能有效降低焊枪电极接触力,但所用时间较长.本文将基于模糊逻辑的滑模与状态反馈加权控制运用到气动伺服焊枪系统中,在建立系统模型的基础上设计滑模切换函数和滑模控制律,通过极点配置的方法设计状态反馈控制器,之后基于模糊控制设计滑模与状态反馈模糊加权控制器,最后通过实验验证提出的控制策略.实验结果表明设计的控制器控制效果优于最大量控制和滑模控制,可有效实现柔性接触.

It is expected to reduce the velocity and the impact of the contact,which is significance to improve the efficiency and quality of welding.Sliding-mode control can reduce contact force,but it takes long time.In this paper,a fuzzy weighed control method between sliding-mode and state feedback was used to reduce the contact force and electrode operating time for pneumatic servo welding gun.Firstly,the sliding mode switch function and sliding mode control law were designed based on a system model.Then,a state feedback controller was designed by means of pole assignment,and a fuzzy weighted controller was designed based on fuzzy control for sliding mode and state feedback.Finally,the proposed control strategy was verified by experiments.Results show the effectiveness of the designed controller,being better than other controller.