遮蔽金属电弧焊接PID控制研究黄燕文机械工程系Applicationof.PDF

教專研 95P-005 遮蔽金屬電弧焊接 PID 控制研究 遮蔽金屬電弧焊接 PID 控制研究 黃燕文 機械工程系 Application of fuzzy system in PID control Automatic Shielded Metal Arc Welding Abstract: Presented is an automatic shielded metal arc welding fuzzy adaptive control. The fuzzy system uses an adaptive law tuning the gains of the PID controller, modulating the rate of the electrode feeding mechanism that regulates the arc current. The tuner uses the standard Ziegler-Nichols tuning rules for initial gains setting according to the open-loop step response of the process. The experimental results of the automatic SMAW control system verify the proposed method can perform the arc welding effectively. Keywords: Shielded Metal Arc Welding (SMAW), Adaptive Control System, Fuzzy System, PID controller, Ziegler-Nichols tuning rules. Symbols e ：Error signal e ：Derivative error G(s) ：Transfer function of the welding control system G s ：Transfer function of the controller c ( ) ( ) H s ：Current sensor of the welding control system I s ：Transfer-function of the arc current I of the welding control system a ( ) a I r (s) ：Transfer-function of the reference input of the welding control system ki ：Coefficient ratio of the molting rate to the arc current ku ：Coefficient ratio of the molting rate to the arc voltage K p ：Proportional gain of PID controller Ti : Integral or rest time of PID controller Td ：Derivate time of PID controller T ：Disturbance u Ua ：Arc voltage ( ) U s ：Output signal of the current controller v ：Electrode feed-rate f 95-47 機械系-黃燕文