基于模糊逻辑PID的反应堆压盖主螺栓植入机器人非线性运动控制算法

 陈侃*,奉明忠,张君凯,王泽平,张智,帅雨忠

(四川日机密封件股份有限公司,四川 成都 610045)
摘要:研制了主螺栓植入机器人(MSIR)及模拟试验装置。提出了采用扭矩、称重两种传感器信号分阶段介入,模糊逻辑控制器可切换的PID算法。建立了输入输出误差e和误差变化率ec与参数Kp、Ki、Kd的模糊逻辑规则。通过对PID参数在线自整定来提高MSIR螺栓植入过程中对多种变化工况的自适应能力,提高螺栓植入质量。将不同幅值和变化规律的阶跃仿真信号作为输入,仿真对比了PID和本文提出的FLA-PID算法的效果。完成了反应堆压盖主螺栓自动植入的实验,实时在线记录了信号数据,对比了PID算法和FLA-PID算法作用于MSIR系统的不同效果。结果表明具有FLA-PID算法的MSIR抗击异常情况的能力及调整时间都较经典PID算法有所提高。
关键词:反应堆压盖;主螺栓植入机器人;PID;伺服控制;模糊逻辑
中图分类号:TL351+.6 文献标志码:A doi:10.3969/j.issn.1006-0316.2018.09.008
文章编号:1006-0316 (2018) 09-0048-07
Non-linear Motion Control Algorithm of RPV Main Studs Implantation Robot Based on Fuzzy Logic PID
CHEN Kan,FENG Mingzhong,ZHANG Junkai,WANG Zeping,ZHANG Zhi,SHUAI Yuzhong
( Sichuan Sunny Seal Co., Ltd., Chengdu 610045, China )
Abstract:A MSIR (Main Stud Implanting Robot) and a simulation experimental facility had been built. A novel fuzzy-PID algorithm with two phases had been proposed. Signals acquired by torque and gravity sensor took effect in different motion stages. The fuzzy-logical rules between input (e, ec) and output (Kp, Ki, Kd) parameters had been obtained. A group of step-signals with different amplitude had been taken into controller to simulate the response of classic PID controller and FLA-PID controller. A full motion experiment by MSIR had been finished. Monitoring data of system had been recorded. The results show that the FLA-PID can move more smoothly and promptly, and not sensitive to system impact.
Key words:reactor pressure vessel;main stud implanting robot;PID;servo control;fuzzy logic
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收稿日期:2018-07-02
基金项目:全国博士后科研工作站自筹项目(K17-06)
作者简介:*通信作者:陈侃(1983-),男,四川广安人,工学博士,高级工程师,主要研究方向为机械制造及自动化、流体机械、旋转机械故障智能诊断、测控系统、薄膜流体润滑。
 

 

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