基于模糊自适应PID控制算法的螺栓扳手扭矩控制系统设计

Design of torque control system for bolt wrench based on fuzzyadaptive PID control algorithm

针对传统机械扳手在扭矩控制方面存在的精度低、稳定性较差等问题,设计了一种基于模糊自适应PID控制算法的螺栓扳手扭矩控制系统。该控制系统外环采用模糊自适应PID控制器作为转速环调节器,内环采用传统PID控制器控制电流,使用电流传感器和霍尔转速传感器采集电机转动过程中的电流和转速,并使用滑动加权平均滤波算法消除随机干扰噪声以提高采集精度,实现对扭矩的精确控制。实验结果表明:模糊自适应PID控制算法拥有良好的动态性能和较强的鲁棒性,同时在1200~3000 N·m扭矩范围内,该控制系统的扭矩控制相对误差最高为3.67%,最低为1.50%,且运行稳定、可靠,具有很高的实用价值和推广价值。

Aiming at the problems of large error and poor stability in torque control of traditional mechanical wrench,a torque control system of bolt wrench based on fuzzy adaptive PID control algorithm was designed.The outer loop of the control system used the fuzzy adaptive PID controller as the speed loop regulator,and the inner loop used the current control loop of traditional PID algorithm.The current sensor and Hall speed sensor were used to collect the current and speed in the process of motor rotation,and the sliding weighted average filtering algorithm was used to eliminate random interference noise to improve the acquisition accuracy and realize the accurate control of torque.The experimental results show that the fuzzy adaptive PID control algorithm has good dynamic performance and strong robustness.At the same time,the maximum torque control relative error of the control system is 3.67%and the minimum is 1.50%in the torque range of 1200~3000 N·m,and the operation is stable and reliable,which has high practical value and popularization value.