Determining penetration from topside weld bead and weld pool geometry in PGMAW

Abstract

Finding suitable characteristic parameters of topside weld pool to reflect the penetration is a key work in weld shape control. In this paper, by analysing the molten metal volume, the relationship between topside weld bead shape and penetration in pulsed gas metal arc welding (PGMAW) is revealed, and then several weld bead characteristic parameters (WBCPs) are proposed to determine the penetration. However, these WBCPs are difficult to be obtained in real time, because continuous solidifying of weld pool forms the weld bead, and the WBCPs can be reflected by the weld pool geometry. Therefore, some weld pool characteristic parameters (WPCPs) are proposed to replace the WBCPs. Furthermore, a visual system is established and a series of image processing arithmetics are developed to extract the WPCPs.     

基于神经网络模型的P-GMAW焊缝成形过程仿真

脉冲熔化极气体保护焊(P-GMAW)是一种高效、适应性强的焊接方法之一,在工业生产中得到了广泛的应用.文中以低碳钢P-GMAW为对象,研究其焊缝成形过程的建模与仿真方法.文中首先利用BP神经网络,建立了该过程的动态模型,然后利用该模型的稳态与动态仿真揭示了P-GMAW过程的成形规律.同时,文中提出了一种利用神经网络模型...     

焊接柔性加工单元中熔池的实时控制

机器人焊接过程中熔池实时控制系统是焊接柔性加工单元 (WFMC)中保证良好焊接质量的一个重要子系统。文中建立了WFMC中焊接质量实时控制子系统并实现了该子系统与WFMC中央监控计算机的实时可靠通讯。在获得了焊接熔池特征参数的基础上 ,建立了焊接过程熔池正面参数和焊缝背面参数的神经网络模型。模型根据熔池正面参数可实时预测焊缝背面宽度。并设计了神经元自学习比例求和微分(PSD)控制器 ,通过调整脉冲峰值电流 ,实现了机器人脉冲钨极气体保护焊 (GTAW )过程中通过正面熔池传感对焊接焊缝背面宽度的实时控制。控制试验证明控制器可有效地对焊接过程进行控制     

激光-MIG复合焊熔透状态视觉检测方法的研究

激光-MIG复合对接焊中,熔透状态是反映焊缝成形质量的重要指标.为获得反映熔透状态的信息,在此采用视觉传感器时焊接过程中的熔池正面、小孔图像、熔池背面分别进行了检测.结果表明,在复合对接焊条件下,采用熔池正面图像检测或小孔热辐射图像检测的方法,不能判断出熔透状态.采用主动照明的拍摄方式并选用合适滤光片的熔池背面图像的视觉检测方法,能够获得反映焊缝熔透状态的图像.     

P-GMAW正面熔透特征量及视觉传感方位

在焊缝成形过程控制中,由于受焊接结构的限制,常常需要从工件正面来检测熔透情况.文中分析了薄板脉冲熔化极气体保护焊(P-GMAW)全熔透过程的成形规律,从熔融金属体积量出发,提出了可以反映熔透的正面熔池及焊缝特征参量.从多个角度观察熔池,获取了清晰的脉冲基值期间熔池图像,针对所提出的特征参量,分析了各个观察视角的优缺点.针对管焊缝,研究了其水平视角传感方法.     

Neural network modeling for dynamic pulsed GTAW process with wire filler based on MATLAB

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1Cr18Ni9Ti不锈钢焊接熔池的组织模拟

运用晶界演化Grain boundary evolution模型,利用PHOENICS软件计算在不同焊接参数下1Cr18Ni9Ti不锈钢TIG焊接温度场,采用VB语言编制程序模拟了焊缝中柱状晶的生长。结果表明,熔池形状和尺寸影响了柱状晶的生长方向,熔池长宽比越大,晶粒的生长方向越垂直于焊缝中心,晶粒短而直;长宽比越小,熔池形状越接近圆形,晶粒的弯曲程度越大,晶粒长而弯。Grain boundary evolution模型能准确地模拟不锈钢焊缝中柱状晶的生长形态,与试验结果中的柱状晶的生长形态吻合较好。     

A device for removing metal from the weld pool when studying the shape of the weld pool

The dimensions and shape of a weld pool have a strong effect on both the technological and service parameters of welded joints. To investigate the shape and dimensions of a weld pool, a device for removing molten metal from the pool cavity for different materials and thickness of the welded specimens was designed and constructed. Investigation of the shape of the pool in laser welding showed special features of the pool in comparison with arc welding     

Supervised descent method for weld pool boundary extraction during fiber laser welding process

In order to obtain a high-quality weld during the laser welding process, extracting the characteristic parameters of weld pool is an important issue for automated welding. In this paper, the type 304 austenitic stainless steel is welded by a 5kW high-power fiber laser and a high-speed camera is employed to capture the topside images of weld pools. Then we propose a robust visual-detection approach for the molten pool based on the supervised descent method. It provides an elegant framework for representing the outline of a weld pool and is especially efficient for weld pool detection in the presence of strong uncertainties and disturbances. Finally, welding experimental results verified that the proposed approach can extract the weld pool boundary accurately, which will lay a solid foundation for controlling the weld quality of fiber laser welding process.     

Study on heat source model in twin-arc GMAW with a common weld pool

The heat input from arcs to weld pool in twin-arc gas metal arc welding (GMAW) with a common weld pool is investigated by high-speed photography. The characteristics of arc shapes and droplet transfer are studied and then the models for heat flux distribution on top surface of weld pool and enthalpy distribution of metal droplets transferred into weld pool are established. By using the model, 3-D geometries of weld pools in twin-arc GMAW with a common weld pool are predicted. Corresponding welding experiments on mild steel plates are carried out and the results indicate that the predicted shape of weld bead on cross section shows good agreement with measured one.     

电子束横焊3mm纯铌板的熔池形态研究

高能加速器纯铌超导腔内导体,要求加工后的外表面光滑平整,以保证其特殊性能的要求。在电子束平焊全熔透情况下,超导腔焊缝正面在反冲压力作用下易发生未焊满及塌陷等缺陷。本文采用合适的电子束横焊工艺参数,得到了符合工艺要求的正面余高焊缝。并且建立了3mm厚的高纯铌板横焊过程的二维模型,针对不同的焊接参数分别设计了不同尺寸和形状的熔池,结合VOF算法,模拟焊接熔池里液态金属自由表面存在状态,得到了不同焊接参数下熔池的演变过程。实验结果显示,焊接熔宽随焊接线能量的升高而增大,数值模拟与实验结果较吻合。     

基于实际熔敷形状的旋转电弧传感器数学模型

旋转电弧传感器数学模型是提高焊接质量、旋转电弧信号处理和焊缝偏差提取的理论基础, 焊接熔敷金属堆积形状是决定旋转电弧长度主要因素之一,影响其数学模型精确度. 采用双线结构光传感系统对焊接收弧阶段焊缝进行三维重建获得焊接熔池熔敷形状,运用单纯形法最优化电弧长度,在此基础上建立了旋转电弧传感器数学模型及仿真模型. 结果表明,该数学模型相对于假设的三角锥熔敷形状数学模型,消除了焊接过程工件变形引起的电流信号误差,减小了焊缝转角和焊缝偏差检测误差,提高了旋转电弧传感器数学模型精度.     

Modeling the keyhole shape and dimension in plasma arc welding

It is of great significance to model the keyhole shape and dimensions to optimize the plasma arc welding process parameters. In this study, through employing a combined volumetric heat source mode, the weld pool in keyhole plasma arc welding is determined firstly, and then the dynamic force-balance condition on the interface between the plasma jet and the molten metal is dealt with in describing the keyhole formation inside the weld pool. The effects of welding current on the shape and size of keyhole are numerically analyzed. The sharp transformation from a partial keyhole to a full-penetration keyhole is quantitatively demonstrated.     

Weld pool boundary and weld bead shape reconstruction based on passive vision in P-GMAW

A passive visual sensing system is established in this research, and clear weld pool images in pulsed gas metal arc welding （ P-GMA W） can be captured with this system. The three-dimensional weld pool geometry, especially the weld height, is not only a crucial factor in determining workpiece mechanical properties, but also an important parameter for reflecting the penetration. A new three-dimensional （3D） model is established to describe the weld pool geometry in P-GMAW. Then, a series of algorithms are developed to extract the model geometrical parameters from the weld pool images. Furthermore, the method to reconstruct the 3 D shape of weld pool boundary and weld bead from the two-dimensional images is investigated.     

手工钨极氩弧焊摇摆焊操作法探析

手工钨极氩弧焊摇摆焊是一种焊缝表面及背面成形良好的焊接方法,广泛应用于多种材质板材的无障碍焊接及直径较大的管材焊接。对手工钨极氩弧焊摇摆焊操作特点及操作注意事项等进行了介绍,并与常规焊法作了对比分析,为广大手工钨极氩弧焊的实践操作者和焊接培训机构教学提供参考。     

TIG焊背面熔宽的神经网络模糊控制

TIG（Tungsten Inert Gas)焊接过程是一个高度非线性、强耦合、时变的系统,针对这一特点,本文设计了单层神经网络模糊控制器,给出了学习算法,该控制器可以自动学习模糊控制规则,并随系统的变化自动调节模糊控制规则,采用普通CCD（Charged Couple Device)摄像机拍摄熔池的正面图像,提取出熔池正面几何参数,利用熔池正面几何参数与背面熔宽的关系模型,对背面熔宽进行实时控制。仿真及试验结果表明,该控制器具有良好的控制性能和控制效果。     

填丝脉冲GTAW熔池形状定义和图像处理

在填丝脉冲GTAW过程中,从熔池图像上可以观察到熔池形状的变化,如度、长度、后拖角和表面高度等。熟练焊工可以根据变化的情况实时地调整焊接规范,保证焊缝成形稳定,利用获得的焊接熔池图像,采用一定的熔池图像处理算法可以计算出熔池形状的特征参数,以满足过程建模和实时控制的要求。本针对填丝脉冲GTAW熔池形状变化的特点,提出了统一的熔池形状非线性拟合公式和熔池形状参数。设计了快速图像处理算法,满足在实际焊接过程中提取熔池形状参数的要求,试验结果证明,熔池形状非线性拟合公式准确,图像处理算法有效,为进一步焊接过程的建模和控制奠定基础。     

Neuron self-learning PSD control for backside width of weld pool in pulsed GTAW with wire filler

In this paper, the weld pool shape control by intelligent strategy was studied. A neuron self-learning PSD controller for backside width of weld pool in pulsed GTAW with wire filler was designed. The PSD control arithmetic was analyzed, simulating experiment by MATLAB software was done, and the validating experiments on varied heat sink workpiece and varied gap workpiece were successfully implemented. The study results show that the neuron self-learning PSD control method can attain a perfect control effect under different set values and conditions, and is suitable for the welding process with the varied structure and coefficients of control model.     

Mathematical analysis of the role of recoil pressure in weld pool dynamics during laser-MIG hybrid welding

A mathematical model was established to simulate the weld pool development and dynamic process in stationary laser-MIG hybrid welding. Surface tension and buoyancy were considered to calculate liquid metal flow patter, moreover, typical phenomena of MIG welding, such as filler droplets impinging weld pool, electromagnetic force in the weld pool, and typical phenomena of laser beam welding, such as recoil pressure, Inverse Bremsstrahlung absorption, Fresnel absorption were all considered in the model. The laser beam and arc couple effect were introduced into this model by the plasma width during hybrid welding. The role of recoil pressure in the weld formation was discussed. Transient weld pool shape and complicated liquid metal velocity distribution from two kinds weld pool to an unified weld pool were calculated. The simulated weld bead geometry with consideration recoil pressure was in good agreement with experimental measurement.     

Study of the law between the weld pool shape variations with the welding parameters under two TIG processes

A double-shielded TIG method was proposed to improve weld penetration and has been compared with the traditional TIG welding method under different welding parameters (i.e., speed, arc length and current). The strength of the Marangoni convection was calculated to estimate the influence of the welding parameters on the variations in weld pool shapes. The results show that the changes in the welding parameters directly impact the oxygen concentration in the weld pool and the temperature distribution on the pool surface. The oxygen content and heat distribution on the weld pool surface are determinants of the pattern and strength of the Marangoni convection. For a negative temperature coefficient of surface tension (∂σ/∂T < 0), an outward Marangoni convection leads to a wide and shallow weld pool shape. The narrow and deep weld pool shape occurs when the Marangoni convection flows along an inward direction (∂σ/∂T > 0). The oxide layer that may appear with the relatively high oxygen content in the weld pool is harmful for the heat flow along the pool surface so as to reduce the welding efficiency especially in the double shielded TIG process.