论文标题:玻璃钢缠绕控制系统的研究与应用
Study and Development for GRP Wined Control System
论文作者 李军华
论文导师 安连祥,论文学位 硕士,论文专业 控制理论与控制工程
论文单位 河北工业大学,点击次数 101,论文页数 49页File Size1898k
2002-01-01论文网 http://www.lw23.com/lunwen_197678887/ PID控制;玻璃钢缠绕;模糊控制;模糊PID控制;鲁棒性
PID control,GRP Wined,fuzzy control,fuzzy-PID control,robustness
玻璃钢缠绕系统是生产玻璃钢储罐及管道的设备。我国现有的缠绕系统一般是机械式的，机械式缠绕系统在生产不同规格的制品时须频繁改变机械装置，生产效率低，操作极不方便。而且，由于机械调速的限制，导致缠绕系统的速比不能连续可调，影响了产品的工艺。当今，自动化控制系统已经在各行各业得到了广泛的应用和发展，采用先进的控制系统控制玻璃钢缠绕工艺已成为发展的趋势。 本文针对玻璃钢缠绕的特点，对其控制系统作了较深入的研究，分析了应用于玻璃钢缠绕的伺服系统的性能要求，研究了现代伺服系统的设计方法。在本文中，伺服系统的设计采用了典型的三环控制，既系统由电流环、速度环、位置环组成。由于电流环内部的系统参数较为明确，在系统运行中变化不大，同时考虑到电流环的快速性，所以电流环的设计仍采用传统的PID控制。为了确保整个系统的稳态精度和精确定位，位置环的设计也采用了传统的PID控制。速度环的设计采用的是自调整因子的模糊PID控制算法，代替了原有的PID控制。虽然PID控制应用广泛，技术成熟，但需要给定系统的精确模型，而模糊控制虽然对系统的不确定性有一定的适应性，但系统的响应速度要受到影响。本文分析了二者的优劣，取长补短，采用了自调整因子的模糊PID控制。结果表明，该控制器对系统参数的摄动、外部环境的变化以及模型的不确定都有着鲁棒性的优点。
The GRP Wined system is equipment that is product aquarium depositor and pipeline. The generally GRP Wined system is mechanical in our country. The mechanical GRP Wined system must frequent change machine gearing while product various specification production therefore product efficiency very low and not conventional operation. Furthermore, GRP Wined system can not adjustment continuously and therefore affect the technics of production due to the limitation of machine timing. Today, automation control system has been used and developed in all kinds of industry extensively. It is a trend that using the advance control system in the GRP Wined.The paper presents a three-loop control system for servo of the GRP Wined system; i.e., the system is consist of current loop, speed loop and position loop. Because the parameter of current loop is defmitude, which it is without appreciably altering in system running, and for the current loop is speediness, so we use the traditional PID control for the current loop. For the position loop designs, considers the exact orientation for overall system and insure the steady-state accuracy of complete system, we also use the PID control for the position loop. We use the fuzzy PID control arithmetic with self-reliant factor for the speed loop. Use fuzzy PID controller instead of original PID controller, we compare with PID control and fuzzy control. PID control is a consummate technique and used so extensively, but it must to know the exact model of system. Fuzzy control has the ability of adapt to the uncertainty of system, but response time of system has been effected. Thus, we select of merit of both and combine them to unity one. The result shows that the controller has robust for the changes of system parameter, variously of exterior circumstance and indefinitely system model.
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