管道全位置自动焊机控制系统的算法设计

介绍了管道全位置自动焊机的控制特点和焊接参数的控制方法，采用构造三弯距求解的三次B样条插补算法将目标点进一步不等分细化，使运动曲线更加光滑，并给出了便于空间位置参数曲线实时运算的迭代关系式；在运动过程中采用PID算法进行调节，使得整个焊接的控制参数不仅可以实现在线修改，而且保证了圆周空间不同位置参数的圆滑过渡，最终达到高速且在空间位置点上稳定焊接等设计要求，从而大幅度提高了施工质量和效率。

Pipeline all-position auto weld control system and arithmetic design

This paper introduces the control charactersties of pipeline all-position auto-welding machine. It utilizes line interpolation as well as cubie bending moment constructed cubic R-sample interpolation arithmetic to subdivide object point in nrder to obtain smooth movement eurve. Furthermore, it supplys the relation which is available for space position parameter Real-time operation and make use of PID arithmetic to adjust in the process of movement during which all wehting control parameters may not only be revised in line hut also insure that the circle space position parameters transit steadly to meet the design demands, such as high speed and welding stabilization ete.