管道全位置遥控焊接装置控制系统

核环境中的管道焊接修复,需要采用遥控方式来完成.根据核环境下管道修复的特点,在自主开发的小口径管道全位置焊接机头的基础上,对遥操作控制系统进行了研究.系统由工控机上插接PC—6501D板卡组成,通过VC++6.0编程提供驱动器的信号,实现整个系统的运动.加入闭环弧压反馈调节机构,以保证全位置焊接过程中电弧长度稳定,提高焊缝成形质量.结果表明,控制系统可以实现全位置焊接的速度和方向可调,并且在闭环弧压反馈调节的控制下,电弧电压的偏差不超过±0.2V,焊缝成形好.

Control system designed for all position pipe welding device

The pipe welding maintenance in nuclear environment requires the teleoperation method to be accomplished.According to the feature of the pipe maintenance in nuclear,the teleoperation control system was studied on the basis of the self-developed minor-caliber pipe welding device.The system was composed of the industrial computer in which the PC-6501D card was inserted.The signal of motor drivers was sent by the VC++6.0 programs to realize the motion of the whole system.To ensure the stability of the arc length during the all position welding and improve the quality of the welding,the close-loop feedback of the arc voltage was added in this system.Results show that the velocity and direction of the all position welding can be adjusted in this control system,moreover,the difference of the arc voltage was less than ±0.2 V under the control of the arc length feedback.The actual welding results are satisfying.