【摘要】 针对船用焊接机器人焊缝跟踪问题,提出一种分数阶比例积分微分(Fractional Order Proportion Integration Differentiation,FOPID)控制技术。根据FOPID控制原理,设计FOPID控制器。针对FOPID特有的控制参数λ和μ,通过阶跃响应试验确定最佳论域范围,优化设计FOPID控制器。通过仿真试验,对FOPID控制器的各种性能进行测试,并与传统比例积分微分(Proportion Integration Differentiation,PID)控制器进行对比,结果表明FOPID控制器精度高、抗干扰性强、鲁棒性强,可满足工作需求。更多还原

【Abstract】 In terms of the weld tracking problem of marine welding robot,a Fractional Order Proportion Integration Differentiation(FOPID)control technology is proposed.According to the FOPID control principle,the FOPID controller is designed.In terms of the unique control parametersλandμof FOPID,the optimal theory domain range is determined by the step response test to optimize the FOPID controller.The various performances of FOPID controller are tested through the simulation tests and compared with the traditional Proportion Integration Differentiation(PID)controller.The results show that the FOPID controller possesses high accuracy,strong anti-interference and strong robustness,and can meet the work requirements.更多还原