激光光路控制电磁作动器的模糊PID控制特性分析
|
摘要
为了实时控制激光切割中激光焦点与辅助气体中轴线的相对位置,提出了一种模糊PID控制的电磁作动永磁复位式3自由度电磁作动器。介绍了电磁作动器结构,建立了相应系统数学模型。采用模糊PID控制算法以仿真与实验相结合的方式研究了电磁作动器的控制特性,并在PID控制器参数完全相同情况下,与传统PID控制算法的控制特性进行对比分析。仿真与实验结果表明:在x轴方向,与传统PID控制算法位置响应时间相比,仿真位置响应时间变化不大,实验位置响应时间减少1. 50 s;在y轴方向,与传统PID控制算法位置响应时间相比,仿真位置响应时间减少0. 48 s,实验位置响应时间减少1. 88 s.经过对模糊PID控制器参数的进一步优化,作动平台在x轴方向响应时间可达0. 10 s.与传统PID控制器相比,模糊PID控制器响应时间更短、响应速度更快。
A three-degree-of-freedom electromagnetic actuator,which is driven by electromagnetic force and reset by permanent magnetic force,is proposed for the real-time control of the relative position of laser focus and auxiliary gas central axis in the laser cutting process. The actuator's structure is introduced,and a mathematical model is established. The control characteristics of fuzzy PID control algorithm are analyzed through simulation and experiment,and compared with those of the traditional PID control algorithms under the condition of same PID parameters. The simulated and experimental results indicate that,in x-axial direction,the position response time in simulation has little change,and the position response time in experiment is shortened by 1. 50 s; in y-axial direction,the position response times in simulation and experiment are reduced by 0. 28 s and 1. 88 s,respectively. After optimizing the parameters of fuzzy PID controller,the response time in x-axial direction can be reduced to 0. 10 s. Compared with the actuator with traditional PID controller,the actuator with the fuzzy PID controller has the advantages of shorter response time and faster response speed.
A three-degree-of-freedom electromagnetic actuator,which is driven by electromagnetic force and reset by permanent magnetic force,is proposed for the real-time control of the relative position of laser focus and auxiliary gas central axis in the laser cutting process. The actuator's structure is introduced,and a mathematical model is established. The control characteristics of fuzzy PID control algorithm are analyzed through simulation and experiment,and compared with those of the traditional PID control algorithms under the condition of same PID parameters. The simulated and experimental results indicate that,in x-axial direction,the position response time in simulation has little change,and the position response time in experiment is shortened by 1. 50 s; in y-axial direction,the position response times in simulation and experiment are reduced by 0. 28 s and 1. 88 s,respectively. After optimizing the parameters of fuzzy PID controller,the response time in x-axial direction can be reduced to 0. 10 s. Compared with the actuator with traditional PID controller,the actuator with the fuzzy PID controller has the advantages of shorter response time and faster response speed.
引文
[1]白素平,马宏,闫钰锋.激光切割技术在封装去除中的应用[J].仪器仪表学报,2006,27(6):2599-2600.BAI S P,MA H,YAN Y F. Application of laser cutting technologyin wiping off encapsulation[J]. Chinese Journal of Scientific In-strument,2006,27(6):2599-2600.(in Chinese)
[2] QUINTERO F,POU J,FERNNDEZ J L,et al. Optimization ofan off-axis nozzle for assist gas injection in laser fusion cutting[J].Optics&Lasers in Engineering,2006,44(11):1158-1171.
[3]张钢,孟庆涛,钟永彦,等.五自由度全永磁轴承系统的稳定悬浮特性分析[J].机械工程学报,2015,51(5):56-63.ZHANG G,MENG Q T,ZHONG Y Y,et al. Stable levitation per-formance analysis of five degrees of freedom all permanent magneticbearing system[J]. Journal of Mechanical Engineering,2015,51(5):56-63.(in Chinese)
[4]刘强,赵勇,代峰燕,等.磁悬浮陀螺飞轮用隐式洛伦兹力磁轴承[J].光学精密工程,2018,26(2):399-409.LIU Q,ZHAO Y,DAI F Y,et al. Novel internal Lorentz magneticbearing for magnetic bearing gyrowheel[J]. Optics and PrecisionEngineering,2018,26(2):399-409.(in Chinese)
[5]袁惠群,李莹,李东,等.磁悬浮轴承弹性转子非线性系统的建模与控制[J].兵工学报,2011,32(2):247-251.YUAN H Q,LI Y,LI D,et al. The nonlinear model and control ofmagnetic suspension bearing flexible rotor[J]. Acta Armamenta-rii,2011,32(2):247-251.(in Chinese)
[6] MOLENAAR A,ZAAIJER E H,Van BEEK H F. A novel low dis-sipation long stroke planar magnetic suspension and propulsionstage[C]∥Proceedings of the 6th International Symposium onMagnetic Bearings. Cambridge,MA,US:Massachusetts Instituteof Technology,1998:650-659.
[7]陈本永,雷勇,李延宝,等.磁悬浮式纳米级微动工作台的理论分析与建模研究[J].仪器仪表学报,2006,27(9):1125-1128.CHEN B Y,LEI Y,LI Y B,et al. Theoretical analysis and model-ing of a magnetic levitation micromotion stage[J]. Chinese Journalof Scientific Instrument,2006,27(9):1125-1128.(in Chi-nese)
[8]李群明,万梁,段吉安.磁悬浮平台系统的机电耦合动力学模型及稳定性分析[J].光学精密工程,2007,15(4):535-542.LI Q M,WAN L,DUAN J A,et al. Coupled electromechanical dy-namic model of magnetically suspended table system and its stabili-ty analysis[J]. Optics and Precision Engineering,2007,15(4):535-542.(in Chinese)
[9]金平,林鹤云,房淑华,等.一种新型直线旋转永磁作动器的分析与实验[J].中国电机工程学报,2011,31(12):65-70.JIN P,LIN H Y,FANG S H,et al. Analysis and experiment of anovel linear and rotary permanent magnet actuator[J]. Proceed-ings of the CSEE,2011,31(12):65-70.(in Chinese)
[10]汤红诚,李著信. MATLAB在模糊PID伺服系统控制中的应用[J].仪器仪表学报,2003,24(4):595-596.TANG H C,LI Z X. The use of MATLAB in fuzzy PID servo sys-tem control[J]. Chinese Journal of Scientific Instrument,2003,24(4):595-596.(in Chinese)
[11]尚玲艳,周坚刚.基于MATLAB的钢板磁悬浮系统仿真研究[J].系统仿真学报,2006,18(增刊2):982-984.SHANG L Y,ZHOU J G. Simulation of magnetic levitation sys-tem of steel plate based on MATLAB[J]. Journal of SystemSimulation,2006,18(S2):982-984.(in Chinese)
[12]王述彦,师宇,冯忠绪.基于模糊PID控制器的控制方法研究[J].机械科学与技术,2011,30(1):166-172.WANG S Y,SHI Y,FENG Z X. A method for controlling a load-ing system based on a fuzzy PID controller[J]. Mechanical Sci-ence and Technology for Aerospace Engineering,2011,30(1):166-172.(in Chinese)
[13]胡均平,郑聪,李科军,等.精密机床的模糊PID主动隔振系统研究[J].噪声与振动控制,2015,35(4):193-197.HU J P,ZHENG C,LI K J,et al. Study on an active vibration i-solation system with fuzzy-PID control for precise machine tool[J]. Noise and Vibration Control,2015,35(4):193-197.(inChinese)
[14]贺军,金辉,陈慧岩.车辆起步电动离合器控制策略的仿真研究[J].兵工学报,2011,32(8):931-938.HE J,JIN H,CHEN H Y. Simulation research on control strategyof electromechanic clutch during vehicle starting[J]. Acta Arma-mentarii,2011,32(8):931-938.(in Chinese)
[15]姚春德,刘小平.基于模糊PID控制的可变配气相位控制系统仿真研究[J].兵工学报,2007,28(9):1025-1029.YAO C D,LIU X P. Simulation of variable cam timing controlsystem based on fuzzy-PID[J]. Acta Armamentarii,2007,28(9):1025-1029.(in Chinese)
[16]刘军,刘振旺,陈建恩,等.基于模糊PID对转子系统的非线性振动控制的研究[J].系统仿真学报,2017,29(1):200-205.LIU J,LIU Z W,CHEN J E,et al. Research of vibration controlon nonlinear rotor system with fuzzy-PID[J]. Journal of SystemSimulation,2017,29(1):200-205.(in Chinese)
[17]孙凤,吴利平,李东,等.三自由度磁力驱动平台的实验研究[J].组合机床与自动化加工技术,2017(8):55-58.SUN F,WU L P,LI D,et al. Experiment study on 3-DOF mag-netic driving platform[J]. Modular Machine Tool&AutomaticManufacturing Technique,2017(8):55-58.(in Chinese)
[2] QUINTERO F,POU J,FERNNDEZ J L,et al. Optimization ofan off-axis nozzle for assist gas injection in laser fusion cutting[J].Optics&Lasers in Engineering,2006,44(11):1158-1171.
[3]张钢,孟庆涛,钟永彦,等.五自由度全永磁轴承系统的稳定悬浮特性分析[J].机械工程学报,2015,51(5):56-63.ZHANG G,MENG Q T,ZHONG Y Y,et al. Stable levitation per-formance analysis of five degrees of freedom all permanent magneticbearing system[J]. Journal of Mechanical Engineering,2015,51(5):56-63.(in Chinese)
[4]刘强,赵勇,代峰燕,等.磁悬浮陀螺飞轮用隐式洛伦兹力磁轴承[J].光学精密工程,2018,26(2):399-409.LIU Q,ZHAO Y,DAI F Y,et al. Novel internal Lorentz magneticbearing for magnetic bearing gyrowheel[J]. Optics and PrecisionEngineering,2018,26(2):399-409.(in Chinese)
[5]袁惠群,李莹,李东,等.磁悬浮轴承弹性转子非线性系统的建模与控制[J].兵工学报,2011,32(2):247-251.YUAN H Q,LI Y,LI D,et al. The nonlinear model and control ofmagnetic suspension bearing flexible rotor[J]. Acta Armamenta-rii,2011,32(2):247-251.(in Chinese)
[6] MOLENAAR A,ZAAIJER E H,Van BEEK H F. A novel low dis-sipation long stroke planar magnetic suspension and propulsionstage[C]∥Proceedings of the 6th International Symposium onMagnetic Bearings. Cambridge,MA,US:Massachusetts Instituteof Technology,1998:650-659.
[7]陈本永,雷勇,李延宝,等.磁悬浮式纳米级微动工作台的理论分析与建模研究[J].仪器仪表学报,2006,27(9):1125-1128.CHEN B Y,LEI Y,LI Y B,et al. Theoretical analysis and model-ing of a magnetic levitation micromotion stage[J]. Chinese Journalof Scientific Instrument,2006,27(9):1125-1128.(in Chi-nese)
[8]李群明,万梁,段吉安.磁悬浮平台系统的机电耦合动力学模型及稳定性分析[J].光学精密工程,2007,15(4):535-542.LI Q M,WAN L,DUAN J A,et al. Coupled electromechanical dy-namic model of magnetically suspended table system and its stabili-ty analysis[J]. Optics and Precision Engineering,2007,15(4):535-542.(in Chinese)
[9]金平,林鹤云,房淑华,等.一种新型直线旋转永磁作动器的分析与实验[J].中国电机工程学报,2011,31(12):65-70.JIN P,LIN H Y,FANG S H,et al. Analysis and experiment of anovel linear and rotary permanent magnet actuator[J]. Proceed-ings of the CSEE,2011,31(12):65-70.(in Chinese)
[10]汤红诚,李著信. MATLAB在模糊PID伺服系统控制中的应用[J].仪器仪表学报,2003,24(4):595-596.TANG H C,LI Z X. The use of MATLAB in fuzzy PID servo sys-tem control[J]. Chinese Journal of Scientific Instrument,2003,24(4):595-596.(in Chinese)
[11]尚玲艳,周坚刚.基于MATLAB的钢板磁悬浮系统仿真研究[J].系统仿真学报,2006,18(增刊2):982-984.SHANG L Y,ZHOU J G. Simulation of magnetic levitation sys-tem of steel plate based on MATLAB[J]. Journal of SystemSimulation,2006,18(S2):982-984.(in Chinese)
[12]王述彦,师宇,冯忠绪.基于模糊PID控制器的控制方法研究[J].机械科学与技术,2011,30(1):166-172.WANG S Y,SHI Y,FENG Z X. A method for controlling a load-ing system based on a fuzzy PID controller[J]. Mechanical Sci-ence and Technology for Aerospace Engineering,2011,30(1):166-172.(in Chinese)
[13]胡均平,郑聪,李科军,等.精密机床的模糊PID主动隔振系统研究[J].噪声与振动控制,2015,35(4):193-197.HU J P,ZHENG C,LI K J,et al. Study on an active vibration i-solation system with fuzzy-PID control for precise machine tool[J]. Noise and Vibration Control,2015,35(4):193-197.(inChinese)
[14]贺军,金辉,陈慧岩.车辆起步电动离合器控制策略的仿真研究[J].兵工学报,2011,32(8):931-938.HE J,JIN H,CHEN H Y. Simulation research on control strategyof electromechanic clutch during vehicle starting[J]. Acta Arma-mentarii,2011,32(8):931-938.(in Chinese)
[15]姚春德,刘小平.基于模糊PID控制的可变配气相位控制系统仿真研究[J].兵工学报,2007,28(9):1025-1029.YAO C D,LIU X P. Simulation of variable cam timing controlsystem based on fuzzy-PID[J]. Acta Armamentarii,2007,28(9):1025-1029.(in Chinese)
[16]刘军,刘振旺,陈建恩,等.基于模糊PID对转子系统的非线性振动控制的研究[J].系统仿真学报,2017,29(1):200-205.LIU J,LIU Z W,CHEN J E,et al. Research of vibration controlon nonlinear rotor system with fuzzy-PID[J]. Journal of SystemSimulation,2017,29(1):200-205.(in Chinese)
[17]孙凤,吴利平,李东,等.三自由度磁力驱动平台的实验研究[J].组合机床与自动化加工技术,2017(8):55-58.SUN F,WU L P,LI D,et al. Experiment study on 3-DOF mag-netic driving platform[J]. Modular Machine Tool&AutomaticManufacturing Technique,2017(8):55-58.(in Chinese)