Determining PID controller coefficients for the moving motor of a welder robot using fuzzy logic

Abstract

In this paper, a fuzzy algorithm was used for determining the coefficients of a PID controller using an online method. The plant used in this system is a welder robot, which is used for welding oil and gas pipelines. This robot rest on the pipe and weld it by moving around. The speed is adjusted using a motor moving the robot around the pipe. A digital controller also used for implementation. In this research, in order to choose the rules the skills transmit method and that how the PID response is required has been used. In this paper, the type of algorithms that continuously assigns PID coefficients using an online method depending on the characteristics of the system which is based on fuzzy logic was used. First, the rules associated to each output in relation to inputs are depicted in it. Using the mentioned method, simulation results and then implementation results were obtained and discussed.