共查询到19条相似文献,搜索用时 203 毫秒
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为了提高基于旋转电弧传感机器人跟踪角焊缝的准确度,解决基于水平滑块伸缩跟踪焊缝时水平滑块行程不够的问题. 通过组合滤波方法,可以滤除焊接电流中的大部分噪声. 利用最小二乘直线去拟合某些采样点,用拟合直线的斜率进行偏差识别. 以偏差和最近三次偏差之和作为模糊控制器的输入量,经过模糊化,模糊推理,单点集重心法使模糊量清晰化,完成了模糊控制器的设计. 再通过两轮差速运动跟踪角焊缝. 最后进行了角焊缝的跟踪. 结果表明,利用该方法,解决了跟踪焊缝时水平滑块行程不够的问题,基于旋转电弧传感机器人跟踪角焊缝的可靠性好,准确度高. 相似文献
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文中介绍了以轮式移动机器人为被控对象,以旋转电弧作为传感器,根据傅里叶变换后的一次谐波分量对焊枪偏差和倾角进行检测,同时根据焊枪的移动状态判断焊枪与焊缝切向之间的夹角.基于T-S模糊逻辑系统对旋转电弧传感器采集的焊枪倾角和焊枪与焊缝切向之间的夹角进行融合.以焊枪偏差和融合后的焊枪倾角作为输入,以机器人左右车轮和水平滑块的运动作为输出,构成双输入多输出控制系统.基于模糊控制理论设计控制器,实现焊缝跟踪的同时对焊枪倾角进行调整,并通过实际焊接试验验证了控制器的跟踪效果. 相似文献
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水下湿法焊缝成形是影响水下焊接接头力学性能的重要因素.与空气中焊接相比,影响水下湿法焊缝成形的因素更复杂.在高压舱内进行不同水深湿法药芯焊丝焊接(FCAW)试验,通过响应曲面法(RSM)分别建立水下湿法焊缝的熔宽和余高与焊接参数之间的数学模型,分析了焊接电流、电弧电压和水深及其交互作用对水下湿法焊缝成形的影响.结果表明,水下湿法焊接时增大焊接电流和电弧电压都可以增大焊缝熔宽.熔宽随着水深的增大而减小,但随着水深的增大,水深对减小熔宽的作用逐渐减小.随着电流的增大,焊缝余高增大,且比电弧电压对余高的作用明显. 相似文献
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针对旋转电弧窄间隙MAG多层单道焊焊缝跟踪需要,提出一种基于粗糙集的焊缝偏差智能建模方法.首先设计工件模仿多层单道焊的坡口状态,并采集不同偏差下的试验数据,然后根据电弧长度变化的Matab仿真和试验数据变化规律将一个旋转周期内的电流划分为12个区间,提取各区间电流平均值和左右区间差值来建立决策表.通过对决策表离散化、约简,最终获得“IF…THEN”形式的知识模型.结果表明,对模型验证并与神经网络对比,二者预测能力相当,精度满足焊缝跟踪需要,而粗糙集模型的可理解性大大提高且能进一步从数据中发掘焊缝偏差与焊接电信号潜在的规律,为电弧控制器设计做准备. 相似文献
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The characteristics of welding currents in a rotating arc lead tandem GMAW process and the weld-seam tracking 下载免费PDF全文
Tandem gas metal arc welding (T-GMAW) process shows a high deposition rate that up to three times of the single electrode GMAW,so the welding speed could be significantly increased in this process.However,the majority of this process applications are based on the pre-programmed robotic welding,which does not allow them to track the seam real-time during welding.Rotating arc sensor,sensing the seam position by detecting the changing of welding currents,has been widely adopted in the automatic robot welding process.It is proposed in this paper to integrate the rotating arc sensor with a trailing torch to develop a new approach of rotating arc lead tandem gas metal arc welding (RLT-GMAW) process.The characteristics of the welding currents in the proposed new welding process were firstly studied,and then a self-turning fuzzy control seam tracking strategy was developed for the mobile robot automatic welding.The experimental results showed that the proposed RLT-GMAW process had an excellent seam tracking performance and high welding deposition rate.Even if there were some electromagnetic interactions between the two arcs,the deviation of the welding seam could also be reflected by the fluctuation of the welding currents on the leading arc once the correct welding parameters were selected.Based on the detected deviation,the welding tracking experiments showed that the proposed self-turning fuzzy controller had a good performance for the RLT-GMA W process seam tracking. 相似文献
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Wen-Hou Chu Pi-Cheng Tung 《International Journal of Machine Tools and Manufacture》2005,45(7-8):933-939
This paper describes the development of an automatic welding control system for alternating current shield metal arc welding. This method could replace manual operations which require a well-trained technician. We have derived a mathematical model of the welding control system and identified system parameters. An adaptive sliding mode controller, estimates the bound of uncertainties, and modulates the rate of the electrode feed mechanism that regulates the arc current. The electrode feed-rate mechanism with this controller is driven by an AC servomotor, which can compensate for both the molten part of the electrode and undesirable fluctuations in the arc length during the welding process. The method can be easily applied to any welding system in which the electrode is consumed during the welding process. By maintaining the magnitude of the arc current at the desired value and the stability of the arc length, excellent welding performance is obtained. The simulation and the experimental results both show that this automatic welding control system, based on the adaptive sliding mode controller, can perform effectively. 相似文献
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1 INTRODUCTIONAsweknow ,theCO2 arcweldinghasmanyweld ingvariablesandadjustableparameters.Whenthesevariablesandparameterscannotbecoo 相似文献
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基于弧焊机器人对构件的立向焊接位置的焊接工艺进行了研究,通过大量实验研究焊接速度、焊接电流、焊接电压等人工调节因素对焊接质量的影响;总结针对该系统的各因素的调整方法和量值。实验表明,参数的适当改变使该系统能应用于立向位置的焊接,从而解决了指定构件的立向焊接。 相似文献
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文中利用侧向风场的吹袭作用来抑制横焊熔池的下淌,研究了在侧向风场作用下焊缝成形质量和旋转电弧的传感特性. 提出了一种基于平面拟合的焊枪偏差和电极高度检测算法,实现了同一电流信号下焊枪偏差和电极高度的同时检测. 结果表明,适当控制侧风流量有助于抑制熔池下淌、改善焊缝成形. 但是随着风速的增加,焊接电弧的熄弧率升高、电弧传感的准确性降低. 针对焊接电流的噪声干扰,还设计了软阈值小波滤波算法,并开发了相应的模糊控制算法对焊枪偏差和电极高度进行调节,初步实现了横焊焊缝的成形控制和跟踪. 相似文献
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为了提高GMAW-P焊接弧长控制的调节速度,减少弧长调节过程中脉冲频率、焊接电流的波动范围,提出了基于DSP数字控制脉冲熔化极气体保护焊接电源采用频率一特性复合弧长适应控制法.在焊接过程中通过实时采集电弧电压信号、焊接电流信号,当弧长发生扰动时,在当前脉冲周期内,以基值时间和给定电压为控制量,从而保证在弧长调节过程中脉冲频率的变化较小.台阶试验和爬坡试验表明,此控制方法的弧长调节过程快速、稳定,焊接电流、脉冲频率波动范围小,焊机具有良好的弧长调节性能. 相似文献
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0Introduction Improvedstabilityofweldingarclengthhasbecome increasinglyimportantforhigherweldingquality.Thesta bilityofweldingarclengthisdependentontwoaspects: oneistheintrinsicself adjustmentofarc,anotheristhe effectoftheweldingconditionparametersandthe… 相似文献
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利用焊接电弧电压信号的标准差和差异系数的倒数作为评价电弧稳定性的指标,通过试验研究了不同工艺条件下水下湿法药芯焊丝焊接的电弧稳定性.建立了湿法焊接电弧稳定性的敏感度模型,分析了各工艺参数如焊接电流、电弧电压、焊接速度和水深对湿法药芯焊丝焊接电弧稳定性的影响.结果表明,水深增大时,焊接电弧稳定性变差,特别是在浅水区域,增大水深可显著降低电弧稳定性;焊接速度增大,电弧稳定性变差;焊接电压对电弧稳定性影响很大,适当提高焊接电压可提高电弧的稳定性. 相似文献