Fractional-order PID servo control based on decoupled visual model

作     者：Liu, Weipeng Bian, Gui-Bin Rahman, Muhammad Rameez Ur Zhang, Haojie Chen, Haiyong Wu, Wanqing 

作者机构：Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China Hebei Univ Technol Sch Artificial Intelligence Tianjin 300130 Peoples R China Minist Educ Engn Res Ctr Intelligent Rehabil & Detecting Tech Tianjin 300130 Peoples R China Hebei Univ Technol Hebei Control Engn Technol Res Ctr Tianjin 300130 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen Peoples R China Chinese Acad Sci Inst Biomed & Hlth Engn Shenzhen Inst Adv Technol Shenzhen Peoples R China 

出 版 物：《INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING》 (国际自适应控制与信号处理杂志)

年 卷 期：2019年第33卷第8期

页      面：1265-1280页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0811[工学-控制科学与工程] 

基　　金：National Natural Science Foundation of China Key Technology RAMP D Program of Hebei Province, China [17211804D] Tianjin Municipal Education Commission Research Program, China Natural Science Foundation of Hebei Province, China [F2018202078] Young Talents Program in Hebei Province, China Natural Science Foundation of Tianjin Province, China [16JCQNJC04200] 

主　　题：fillet weld tracking fractional PID control initial positioning visual servo 

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.