Fractional-order PID servo control based on decoupled visual model | |
Liu, Weipeng1,2,3,4; Bian, Gui-Bin5; Rahman, Muhammad Rameez Ur2; Zhang, Haojie2,5; Chen, Haiyong1,2,3,4; Wu, Wanqing6,7 | |
发表期刊 | INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING |
ISSN | 0890-6327 |
2019-08-01 | |
卷号 | 33期号:8页码:1265-1280 |
通讯作者 | Liu, Weipeng(liuweipeng@hebut.edu.cn) |
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. |
关键词 | fillet weld tracking fractional PID control initial positioning visual servo |
DOI | 10.1002/acs.2956 |
关键词[WOS] | SEAM ; TRACKING ; SYSTEMS ; DESIGN |
收录类别 | SCI |
语种 | 英语 |
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] ; 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] |
项目资助者 | 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 |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Electrical & Electronic |
WOS记录号 | WOS:000479315600004 |
出版者 | WILEY |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/27566 |
专题 | 复杂系统管理与控制国家重点实验室_先进机器人 |
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. |
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