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Fractional-order PID servo control based on decoupled visual model

文献类型：期刊论文

作者Liu, Weipeng1,2,3,4; Bian, Gui-Bin5; Rahman, Muhammad Rameez Ur2; Zhang, Haojie2,5; Chen, Haiyong1,2,3,4; Wu, Wanqing6,7
刊名INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
出版日期2019-08-01
卷号33期号:8页码:1265-1280
关键词fillet weld tracking fractional PID control initial positioning visual servo
ISSN号0890-6327
DOI10.1002/acs.2956
通讯作者Liu, Weipeng(liuweipeng@hebut.edu.cn)
英文摘要A decoupled visual model and a fractional PID controller are designed aiming at the problem of the view distortion in the fillet weld welding process. Firstly, the intersection point coordinates of two laser stripes are selected as the image characteristics, and the decoupled visual model is designed to the tracking control of the fillet weld seam so that the control value in two directions is decoupled, reducing the difficulty of control. In addition to this, the image may produce distortion in the dynamic tracking process, causing nonlinearity and coupling in two directions. To solve this problem, the fractional-order PID controller is designed so that the adjustment range and the control ability are improved better than the traditional PID controller. Some experiments verify that the desired performance can be achieved by using the proposed methods.
WOS关键词SEAM ; TRACKING ; SYSTEMS ; DESIGN
资助项目National Natural Science Foundation of China[61873315] ; Key Technology R&D Program of Hebei Province, China[17211804D] ; Tianjin Municipal Education Commission Research Program, China[20140728] ; Natural Science Foundation of Hebei Province, China[F2018202078] ; Young Talents Program in Hebei Province, China[210003] ; Natural Science Foundation of Tianjin Province, China[16JCQNJC04200]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000479315600004
出版者WILEY
资助机构National Natural Science Foundation of China ; Key Technology R&D Program of Hebei Province, China ; Tianjin Municipal Education Commission Research Program, China ; Natural Science Foundation of Hebei Province, China ; Young Talents Program in Hebei Province, China ; Natural Science Foundation of Tianjin Province, China
源URL[http://ir.ia.ac.cn/handle/173211/27565]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Liu, Weipeng
作者单位1.Hebei Univ Technol, State Key Lab Reliabil & Intelligence Elect Equip, Tianjin 300130, Peoples R China
2.Hebei Univ Technol, Sch Artificial Intelligence, Tianjin 300130, Peoples R China
3.Minist Educ, Engn Res Ctr Intelligent Rehabil & Detecting Tech, Tianjin 300130, Peoples R China
4.Hebei Univ Technol, Hebei Control Engn Technol Res Ctr, Tianjin 300130, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
6.Shenzhen Inst Adv Technol, CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen, Peoples R China
7.Chinese Acad Sci, Inst Biomed & Hlth Engn, Shenzhen Inst Adv Technol, Shenzhen, Peoples R China
推荐引用方式
GB/T 7714		 Liu, Weipeng,Bian, Gui-Bin,Rahman, Muhammad Rameez Ur,et al. Fractional-order PID servo control based on decoupled visual model[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,2019,33(8):1265-1280.
APA Liu, Weipeng,Bian, Gui-Bin,Rahman, Muhammad Rameez Ur,Zhang, Haojie,Chen, Haiyong,&Wu, Wanqing.(2019).Fractional-order PID servo control based on decoupled visual model.INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,33(8),1265-1280.
MLA Liu, Weipeng,et al."Fractional-order PID servo control based on decoupled visual model".INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 33.8(2019):1265-1280.

入库方式： OAI收割

来源：自动化研究所

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