A fuzzy-PID control technology in seam trucking system was studied in this paper. The system detects the welding seam by photoelectric sensor which scans a manual line. Based on analyzing of movement process of the tracking system,a sensor-rotating model and the loop control structure diagrams were presented. Fuzzy-PID controller was designed,and the fuzzy control table is got, that can be applied to control execute machine A seam tracking system has been produced based on these technologies. Simulation indicates that benefit from the application of sensor-rotating model, the request of system to sensor has greatly reduced and the using of Fuzzy-PID control improves the tracking accuracy. Seam tracking welding experiments show that the system accuracy meets the demand of industrial manufacturing. The system also has the advantage of low cost,simple structure and reliable behavior, which bring the system highly practical application value.%研究了一种焊缝自动跟踪系统的Fuzzy-PID复合控制技术.根据光电传感器检测焊缝偏差的特点,提出了一种传感器旋转摆动模型,建立了系统闭环控制结构图,设计了Fuzzy-PID复合控制器以实现焊缝跟踪.采用Matlab对系统的控制性能进行仿真.仿真研究表明,采用传感器旋转摆动模型,简化了系统对传感器的要求,Fuzzy-PID复合控制的应用则提高了系统的精度.研制出一台样机,通过焊缝跟踪实验表明,系统跟踪精度高,满足实际生产应用要求.
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