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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