Fractional-order PID servo control based on decoupled visual model

doi:10.1002/acs.2956

	Fractional-order PID servo control based on decoupled visual model
	Liu, Weipeng 1,2,3,4; Bian, Gui-Bin5 ; Rahman, Muhammad Rameez Ur 2; Zhang, Haojie 2,5; Chen, Haiyong 1,2,3,4; Wu, Wanqing 6,7
刊名	INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
	2019-08-01
卷号	33 期号:8 页码:1265-1280
关键词	fillet weld tracking fractional PID control initial positioning visual servo
ISSN号	0890-6327
DOI	10.1002/acs.2956
通讯作者	Liu, Weipeng(liuweipeng@hebut.edu.cn)
英文摘要	A decoupled visual model and a fractional PID controller are designed aiming at the problem of the view distortion in the fillet weld welding process. Firstly, the intersection point coordinates of two laser stripes are selected as the image characteristics, and the decoupled visual model is designed to the tracking control of the fillet weld seam so that the control value in two directions is decoupled, reducing the difficulty of control. In addition to this, the image may produce distortion in the dynamic tracking process, causing nonlinearity and coupling in two directions. To solve this problem, the fractional-order PID controller is designed so that the adjustment range and the control ability are improved better than the traditional PID controller. Some experiments verify that the desired performance can be achieved by using the proposed methods.
资助项目	National Natural Science Foundation of China[61873315] ; Key Technology R&D Program of Hebei Province, China[17211804D] ; Tianjin Municipal Education Commission Research Program, China[20140728] ; Natural Science Foundation of Hebei Province, China[F2018202078] ; Young Talents Program in Hebei Province, China[210003] ; Natural Science Foundation of Tianjin Province, China[16JCQNJC04200]
WOS关键词	SEAM ; TRACKING ; SYSTEMS ; DESIGN
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	WILEY
WOS记录号	WOS:000479315600004
资助机构	National Natural Science Foundation of China ; Key Technology R&D Program of Hebei Province, China ; Tianjin Municipal Education Commission Research Program, China ; Natural Science Foundation of Hebei Province, China ; Young Talents Program in Hebei Province, China ; Natural Science Foundation of Tianjin Province, China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/27565]
专题	中国科学院自动化研究所
通讯作者	Liu, Weipeng
作者单位	1.Hebei Univ Technol, State Key Lab Reliabil & Intelligence Elect Equip, Tianjin 300130, Peoples R China 2.Hebei Univ Technol, Sch Artificial Intelligence, Tianjin 300130, Peoples R China 3.Minist Educ, Engn Res Ctr Intelligent Rehabil & Detecting Tech, Tianjin 300130, Peoples R China 4.Hebei Univ Technol, Hebei Control Engn Technol Res Ctr, Tianjin 300130, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 6.Shenzhen Inst Adv Technol, CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen, Peoples R China 7.Chinese Acad Sci, Inst Biomed & Hlth Engn, Shenzhen Inst Adv Technol, Shenzhen, Peoples R China
推荐引用方式 GB/T 7714	Liu, Weipeng,Bian, Gui-Bin,Rahman, Muhammad Rameez Ur,et al. Fractional-order PID servo control based on decoupled visual model[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,2019,33(8):1265-1280.
APA	Liu, Weipeng,Bian, Gui-Bin,Rahman, Muhammad Rameez Ur,Zhang, Haojie,Chen, Haiyong,&Wu, Wanqing.(2019).Fractional-order PID servo control based on decoupled visual model.INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,33(8),1265-1280.
MLA	Liu, Weipeng,et al."Fractional-order PID servo control based on decoupled visual model".INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 33.8(2019):1265-1280.