轮式自主移动焊接机器人协调控制策略

Compromise control tactic for wheeled welding robot

关键词:  旋转电弧  焊缝跟踪  模糊-比例控制  协调控制

Key words:  rotating arc  tracking  fuzzy-proportional control  compromise control

摘要:

采用模糊-比例双模分段控制理论,研究了旋转电弧传感器轮式机器人焊缝跟踪系统,给出了这种控制器的设计方法。试验表明,该系统具有良好的控制特性,能满足焊接工程应用的要求。

Abstract:

A double-model control theory of fuzzy-proportional is introduced,and its application in the seam tracking for the wheel robot with arc sens on is presented in detail,the particular process of design for this controller is given.For the integration of two unattached system,the toal control is difficult.A simple but useful compromise control tactic is adopted and flexible cooperation problem is settled well,it has proved by experiment that control characters are good and this controller can satisfy the requirements of welding application.