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Fractional‐order PID servo control based on decoupled visual model
Author(s) -
Liu Weipeng,
Bian GuiBin,
Rahman Muhammad Rameez Ur,
Zhang Haojie,
Chen Haiyong,
Wu Wanqing
Publication year - 2019
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2956
Subject(s) - pid controller , control theory (sociology) , nonlinear system , control engineering , computer science , servo , process (computing) , controller (irrigation) , welding , engineering , artificial intelligence , control (management) , temperature control , mechanical engineering , physics , agronomy , quantum mechanics , biology , operating system
Summary 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.