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
ISSN0890-6327
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
DOI10.1002/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
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
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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