摘要
针对混凝土难以在可控范围内均匀稳定输送的问题,采用一种基于模糊PID的流量控制算法,对混凝土布料的工程应用进行仿真研究。选取蠕动泵理论流量与高黏度流量计测量值的差值和差值变化率作为输入量,进行模糊推理及去模糊化,解决了非牛顿流体难以建立数学模型和经典PID稳态误差较大的问题,并对布料机器人模糊PID流量控制算法进行验证,将设计的模糊PID输入量代入Matlab fuzzy工具包,通过PID参数调节获得稳定的流量输出仿真结果。实际测试与仿真结果的一致性为模糊PID算法在混凝土流量稳定控制中的应用提供了解决方案。
A flow control algorithm is established based on fuzzy PID to simulate the engineering application of concrete distribution,because the flow of concrete is difficult to be uniformly and stably transmitted within controllable range.The difference value between the theoretical flow of peristaltic pump and the measured value of high viscosity flowmeter and the variation rate of it were selected as input,which was fuzzy reasoned and defuzzied.It solves the problem that it is difficult to establish a mathematical model by non-Newtonian fluid and the major classical PID steady-state error.The fuzzy PID flow control algorithm of the distributing robot was verified.The input of the designed fuzzy PID was substituted into the Matlab fuzzy toolkit.The stable flow output simulation results were obtained by adjusting the PID parameters.The consistency between the actual test and the simulation results provides a solution for the fuzzy-PID algorithm in the concrete flow stability control.
作者
王彤
蒋永翔
邓三鹏
段景乐
孙宏昌
祁宇明
WANG Tong;JIANG Yong-xiang;DENG San-peng;DUAN Jing-le;SUN Hong-chang;QI Yu-ming(Institute of Robotics and Intelligent Equipment,Tianjin University of Technology and Education,Tianjin300222,China)
出处
《天津职业技术师范大学学报》
2020年第1期21-25,共5页
Journal of Tianjin University of Technology and Education
基金
天津市科技特派员项目(18JCTPJC67500)
天津职业技术师范大学科研发展基金资助项目(KJ1701)
京津冀科技成果转化项目(17YFCZZC00270)
天津市科学技术普及研发项目(17KPXMSF00190).
