西安工业大学学报
西安工業大學學報
서안공업대학학보
JOURNAL OF XI'AN TECHNOLOGICAL UNIVERSITY
2014年
12期
1012-1017
,共6页
锻造操作机%单神经元自适应PID控制%动力学模型%超调量
鍛造操作機%單神經元自適應PID控製%動力學模型%超調量
단조조작궤%단신경원자괄응PID공제%동역학모형%초조량
forging manipulator%single neuron adaptive PID control%dynamic model%overshoot amount
为了解决锻造操作机在运送锻件过程中因惯量较大原因引起的响应滞后问题，通过建立锻造操作机大车行走机构动力学模型，提出了单神经元自适应PID控制算法．对锻造操作机大车行走机构单神经元自适应PID控制模型进行仿真．仿真结果表明：采用单神经元自适应PID控制时，超调量低于3s，小于传统PID临界超调量；大车在3s之后达到匀速运行状态，大车行走机构响应加速度达1000mm?s－2，速度调整误差为±5mm?s－1，大车行走重复定位误差小于±10mm．
為瞭解決鍛造操作機在運送鍛件過程中因慣量較大原因引起的響應滯後問題，通過建立鍛造操作機大車行走機構動力學模型，提齣瞭單神經元自適應PID控製算法．對鍛造操作機大車行走機構單神經元自適應PID控製模型進行倣真．倣真結果錶明：採用單神經元自適應PID控製時，超調量低于3s，小于傳統PID臨界超調量；大車在3s之後達到勻速運行狀態，大車行走機構響應加速度達1000mm?s－2，速度調整誤差為±5mm?s－1，大車行走重複定位誤差小于±10mm．
위료해결단조조작궤재운송단건과정중인관량교대원인인기적향응체후문제，통과건립단조조작궤대차행주궤구동역학모형，제출료단신경원자괄응PID공제산법．대단조조작궤대차행주궤구단신경원자괄응PID공제모형진행방진．방진결과표명：채용단신경원자괄응PID공제시，초조량저우3s，소우전통PID림계초조량；대차재3s지후체도균속운행상태，대차행주궤구향응가속도체1000mm?s－2，속도조정오차위±5mm?s－1，대차행주중복정위오차소우±10mm．
In order to solve the delay problem caused by the large moment of inertia in the process of transporting forgings ,the dynamics model of walking mechanism of forging manipulator cart is established and the single neuron adaptive PID control algorithm is proposed .The single neuron adaptive PID control model of cart w alking mechanism is simulated .T he simulation results show :While the single neuron adaptive PID control is used ,the overshoot amount is lower than 3 s and is less than the critical overshoot volume of the traditional PID .The running state of the cart will enter the steady state after 3 s .The walking device response acceleration is up to 1 000 mm?s-2 ,the speed adjustment error is ± 5 mm?s-1 ,the cart w alking repeat positioning error is less than ± 10 mm .
