Analysis of Fuzzy PID Control Characteristics on Electromagnetic Actuator for Laser Optical Path Control

doi:10.3969/j.issn.1000-1093.2019.02.024

Abstract

Abstract: A three-degree-of-freedom electromagnetic actuator, which is driven by electromagnetic force and reset by permanent magnetic force, is proposed for the real-time control of the relative position of laser focus and auxiliary gas central axis in the laser cutting process. The actuator's structure is introduced, and a mathematical model is established. The control characteristics of fuzzy PID control algorithm are analyzed through simulation and experiment, and compared with those of the traditional PID control algorithms under the condition of same PID parameters. The simulated and experimental results indicate that，in x-axial direction, the position response time in simulation has little change, and the position response time in experiment is shortened by 1.50 s; in y-axial direction, the position response times in simulation and experiment are reduced by 0.28 s and 1.88 s, respectively. After optimizing the parameters of fuzzy PID controller, the response time in x-axial direction can be reduced to 0.10 s. Compared with the actuator with traditional PID controller, the actuator with the fuzzy PID controller has the advantages of shorter response time and faster response speed. Key

Key words: electromagneticactuator, mathematicalmodel, fuzzyPID, differentialcontrol

CLC Number:

TP273⁺.4

SUN Feng， ZHANG Qi， XU Fangchao， LI Qiang， JIN Junjie， TONG Ling， ZHANG Xiaoyou， LIU Weiwei. Analysis of Fuzzy PID Control Characteristics on Electromagnetic Actuator for Laser Optical Path Control[J]. Acta Armamentarii, 2019, 40(2): 430-441.

References

［1］白素平, 马宏, 闫钰锋. 激光切割技术在封装去除中的应用[J]. 仪器仪表学报, 2006, 27(6):2599-2600.
BAI S P，MA H，YAN Y F. Application of laser cutting technology in wiping off encapsulation[J]. Chinese Journal of Scientific Instrument，2006，27(6):2599-2600.（in Chinese）
[2］ QUINTERO F, POU J, FERNNDEZ J L, et al. Optimization of an off-axis nozzle for assist gas injection in laser fusion cutting[J]. Optics & Lasers in Engineering, 2006, 44(11):1158-1171.
[3］张钢, 孟庆涛, 钟永彦，等. 五自由度全永磁轴承系统的稳定悬浮特性分析[J]. 机械工程学报, 2015, 51(5):56-63.
ZHANG G，MENG Q T，ZHONG Y Y，et al. Stable levitation performance analysis of five degrees of freedom all permanent magnetic bearing system[J]. Journal of Mechanical Engineering, 2015, 51(5): 56-63.（in Chinese）
[4］刘强, 赵勇, 代峰燕, 等. 磁悬浮陀螺飞轮用隐式洛伦兹力磁轴承[J]. 光学精密工程, 2018, 26(2):399-409.
LIU Q，ZHAO Y，DAI F Y，et al. Novel internal Lorentz magnetic bearing for magnetic bearing gyrowheel[J]. Optics and Precision Engineering, 2018, 26(2):399-409.（in Chinese）
[5］袁惠群, 李莹, 李东, 等. 磁悬浮轴承弹性转子非线性系统的建模与控制[J]. 兵工学报, 2011, 32(2):247-251.
YUAN H Q，LI Y，LI D，et al. The nonlinear model and control of magnetic suspension bearing flexible rotor[J]. Acta Armamentarii, 2011, 32(2):247-251.（in Chinese）
[6］ MOLENAAR A，ZAAIJER E H，Van BEEK H F. A novel low dissipation long stroke planar magnetic suspension and propulsion stage[C]∥Proceedings of the 6th International Symposium on Magnetic Bearings. Cambridge, MA, US: Massachusetts Institute of Technology, 1998:650-659.
[7］陈本永, 雷勇, 李延宝, 等. 磁悬浮式纳米级微动工作台的理论分析与建模研究[J]. 仪器仪表学报, 2006, 27(9):1125-1128.
CHEN B Y，LEI Y，LI Y B，et al. Theoretical analysis and modeling of a magnetic levitation micromotion stage[J]. Chinese Journal of Scientific Instrument, 2006, 27(9):1125-1128.（in Chinese）
[8］李群明, 万梁, 段吉安. 磁悬浮平台系统的机电耦合动力学模型及稳定性分析[J]. 光学精密工程, 2007, 15(4): 535-542.
LI Q M，WAN L，DUAN J A，et al. Coupled electromechanical dynamic model of magnetically suspended table system and its stability analysis[J]. Optics and Precision Engineering, 2007, 15(4): 535-542.（in Chinese）
[9］金平,林鹤云, 房淑华, 等. 一种新型直线旋转永磁作动器的分析与实验[J]. 中国电机工程学报, 2011, 31(12):65-70.
JIN P，LIN H Y，FANG S H，et al. Analysis and experiment of a novel linear and rotary permanent magnet actuator[J]. Proceedings of the CSEE,2011, 31(12):65-70.（in Chinese）

[10］汤红诚, 李著信. MATLAB在模糊PID伺服系统控制中的应用[J]. 仪器仪表学报, 2003, 24(4):595-596.
TANG H C，LI Z X. The use of MATLAB in fuzzy PID servo system control[J]. Chinese Journal of Scientific Instrument, 2003, 24(4):595-596.（in Chinese）
[11］尚玲艳, 周坚刚. 基于MATLAB的钢板磁悬浮系统仿真研究[J]. 系统仿真学报，2006，18(增刊2)：982-984.
SHANG L Y，ZHOU J G. Simulation of magnetic levitation system of steel plate based on MATLAB[J]. Journal of System Simulation， 2006，18(S2)：982-984.（in Chinese）
[12］王述彦, 师宇, 冯忠绪. 基于模糊PID控制器的控制方法研究[J]. 机械科学与技术, 2011, 30(1):166-172.
WANG S Y，SHI Y，FENG Z X. A method for controlling a loading system based on a fuzzy PID controller[J]. Mechanical Science and Technology for Aerospace Engineering, 2011, 30(1):166-172.（in Chinese）
[13］胡均平, 郑聪, 李科军, 等. 精密机床的模糊PID主动隔振系统研究[J]. 噪声与振动控制, 2015, 35(4):193-197.
HU J P，ZHENG C，LI K J，et al. Study on an active vibration isolation system with fuzzy-PID control for precise machine tool[J]. Noise and Vibration Control, 2015, 35(4):193-197.（in Chinese）
[14］贺军, 金辉, 陈慧岩. 车辆起步电动离合器控制策略的仿真研究[J]. 兵工学报, 2011, 32(8):931-938.
HE J，JIN H，CHEN H Y. Simulation research on control strategy of electromechanic clutch during vehicle starting[J]. Acta Armamentarii, 2011, 32(8):931-938.（in Chinese）
[15］姚春德, 刘小平. 基于模糊PID控制的可变配气相位控制系统仿真研究[J]. 兵工学报, 2007, 28(9):1025-1029.
YAO C D，LIU X P. Simulation of variable cam timing control system based on fuzzy-PID[J]. Acta Armamentarii, 2007, 28(9): 1025-1029.（in Chinese）
[16］刘军, 刘振旺, 陈建恩, 等. 基于模糊PID对转子系统的非线性振动控制的研究[J]. 系统仿真学报, 2017,29(1):200-205.
LIU J，LIU Z W，CHEN J E，et al. Research of vibration control on nonlinear rotor system with fuzzy-PID[J]. Journal of System Simulation, 2017,29(1):200-205.（in Chinese）
[17］孙凤, 吴利平, 李东,等. 三自由度磁力驱动平台的实验研究[J]. 组合机床与自动化加工技术, 2017(8):55-58.
SUN F，WU L P，LI D，et al. Experiment study on 3-DOF magnetic driving platform[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2017(8):55-58.（in Chinese）

第40卷第2期
2019 年2月兵工学报ACTA
ARMAMENTARIIVol.40No.2Feb. 2019

[1]	LIU Haotian， FU Debin， BI Fengyang， YANG Huawei， LU Bingju. Mathematical Model of Gas Bubble around the Outlet of Underwater Ejection Canister for Submarine-launched Missile [J]. Acta Armamentarii, 2022, 43(3): 599-604.
[2]	LI Mao， HOU Hailiang， LI Dian， CHEN Pengyu， LI Yongqing， ZHU Xi. Fragments Loading Properties of Warship Bulkhead from Moving Fragmentations Kill Warhead [J]. Acta Armamentarii, 2019, 40(9): 1804-1818.
[3]	PENG Hu， ZHANG Jinqiu， ZHANG Jian， HUANG Dashan， HAN Chaoshuai. Research on Model Reference Multi-mode Switching Control of Parallel Composite Electromagnetic Suspension [J]. Acta Armamentarii, 2019, 40(1): 19-28.
[4]	WANG Shu-ming, ZUO Zhe-qing, YAN Hao, XU Ling-ling, DONG Li-jing. Dynamic Modeling and Characteristics Investigation of Jet Deflector Servo Valve [J]. Acta Armamentarii, 2018, 39(3): 598-607.
[5]	WANG Zhen-chun， BAO Zhi-yong， CAO Hai-yao， LIU Fu-cai， ZHAN Zai-ji， WANG Da-zheng. Research on Contact Characteristics of Armature and Rail in Augmented Electromagnetic Railgun [J]. Acta Armamentarii, 2018, 39(3): 451-456.
[6]	YU Tao, HAO Yong-ping, ZHENG Bin, LI Jian-wei, LI Guang-lin. Evaluation of Damage Efficiency of Terminally Sensitive Submuinition Scanning in the Ascent on Tank Target [J]. Acta Armamentarii, 2018, 39(10): 1927-1935.