| 杨璟*,陶永**,任帆**,江山**,巩玥*.一种基于猫群优化算法的焊缝跟踪自调整规则模糊控制方法[J].高技术通讯(中文),2022,32(3):219~226 |
| 一种基于猫群优化算法的焊缝跟踪自调整规则模糊控制方法 |
| A Fuzzy control method for welding seam tracking self-adjusting rules based on cat swarm optimization algorithm |
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| DOI：10.3772/j.issn.1002-0470.2022.03.001 |
| 中文关键词: 猫群优化算法(CSO)； 焊缝跟踪； 模糊控制； 加权因子 |
| 英文关键词: cat swarm optimization (CSO), seam tracking, fuzzy control, weighted factor |
| 基金项目: |
| 作者 | 单位 | | 杨璟* | | | 陶永** | | | 任帆** | | | 江山** | | | 巩玥* | |
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| 中文摘要: |
| 机器人焊缝跟踪系统由于焊接环境的复杂性是一个存在不确定信息的非线性复杂系统，一般的控制方法不能很好地适应受控对象的多变性。对此本文提出了一种基于猫群优化算法(CSO)的机器人焊缝跟踪自调整规则的模糊控制器(CSO FC)，使用解析形式的控制规则表达式，以简化机器人焊缝跟踪中模糊推理过程，并将一个权系数加入到表达式中，不同的权系数代表不同的控制规则，以实现焊缝跟踪的自调整。通过仿真实验，将本文提出的自调整规则模糊控制方法与其他控制方法进行对比和分析，验证了本文方法的有效性和适应性。 |
| 英文摘要: |
| The robot welding seam tracking system is a non-linear complex system with uncertain information due to the complexity of the welding environment. General control methods do not adapt well to the variability of controlled objects. A fuzzy controller for robot seam tracking self-adjusting rules based on cat swarm optimization (CSO) algorithm is proposed. The analytical expressions of control rules are presented to simplify the process of fuzzy inference in robot seam tracking. Meanwhile, a weight coefficient is added to the expression to achieve the goal of weld seam self-adjustment. Different weight coefficients represent different control rules. Finally, the self-tuning rule fuzzy control method proposed in this paper is compared with other two control methods through simulation experiments to verify its effectiveness and adaptability. |
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