自动焊接装置的最佳控制

Optimal Control of the Welding Manipulator

  • 摘要: 本文用频域法研究了自动焊接装置的最佳控制问题.从理论上导出了具有积分作用的最佳控制器的传递函数,并在实践上予以实现.文中将Grimble提供的设计方法,由普通幅相特性方法推广到扩充幅相特性方法,这样设计出来的最佳控制系统不仅能使二次型性能指标为最小,而且使系统具有给定的稳定度或衰减度,改善了调节过程的品质.本文采用的设计方法,无论对低阶系统或高阶系统都同样适用.

     

    Abstract: The optimal control problems of the welding manipulator is described in thispaper by a frequency domain method.The transfer function of the optimal controller with integral action is developed.The theoretical results are verified by the experimental work satisfactorily.By means of the modified frequency domain method anoptimal control system with predescribed degree of stability or degree of dampinp canbe designed.And that will be very important for us to improve the characteristics ofthe transient process of the control system.This method can be used in all systems,lower-order as well as higher-order.

     

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