• CN:11-2187/TH
  • ISSN:0577-6686

›› 2010, Vol. 46 ›› Issue (23): 23-29.

• 论文 • 上一篇    下一篇

移动机器人弯曲角焊缝跟踪预测模糊控制器设计

高延峰;张华;肖建华   

  1. 南昌航空大学航空制造工程学院;南昌大学机电工程学院机器人研究所
  • 发布日期:2010-12-05

Design of Predictive Fuzzy Controller for Curved Fillet Welding Seam Tracking Based on a Mobile Robot

GAO Yanfeng;ZHANG Hua;XIAO Jianhua   

  1. School of Aeronautical Manufacturing Engineering, Nanchang Hangkong University School of Mechanical Engineering Robotics Institute, Nanchang University
  • Published:2010-12-05

摘要: 研究以旋转电弧作为传感器、采用轮式移动机器人对弯曲角焊缝进行跟踪焊接的控制方法。设计预测模糊控制器控制小车转弯,并在转弯过程中使车轮与横向滑块协调动作,实现对弯曲角焊缝的平滑跟踪。该控制器采用焊枪偏差和倾角信息获得车体运动方向和焊缝走向之间的角度偏差,采用线性化模型预测焊枪下一点的位置,采用加权最小二乘方法预测焊缝下一点位置,采用模糊理论实现小车转弯时车轮和横向滑块的协调控制。利用试验对常规模糊控制器和所提出的预测模糊控制器进行比较,发现所提出的控制方法具有更好的控制效果和跟踪精度。

关键词: 模糊控制, 弯曲焊缝, 移动机器人, 预测控制

Abstract: The control method of tracking curved fillets based on wheeled mobile welding robot with rotational arc as sensor is researched. A predictive fuzzy controller is designed to coordinately control horizontal slider moving and robot body turning when tracking curved welding seam. Through detecting the horizontal deviation and inclination of welding gun, the angular deviation between the orientation of robot moving and the direction of welding seam trajectory is acquired. The proposed predictive fuzzy controller employs weighted least square fitting method to predict the next position of welding seam trajectory and uses linearization model to predict the next orientation and position of welding gun. In addition, fuzzy control is adopted to deal with nonlinear characteristic of the system. In experiments, the proposed controller is applied to tracking curved seams and compared with a traditional fuzzy controller. The experiment results demonstrate that the feasibility and advantages of this predictive fuzzy control on the curved weld seam tracking.

Key words: Curved welding seam, Fuzzy control, Mobile robot, Predictive control

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