全数字机器人VPPA焊接电源

为提高铝合金机器人VPPA(变极性等离子弧)焊接过程的稳定性，研制了一台600 A级基于ARM(advanced RISC machines)的全数字机器人VPPA焊接电源.主电路采用双逆变拓扑结构，初级逆变电路采用全桥拓扑，次级逆变电路采用双半桥并联拓扑；以基于Cortex-M4内核的STM32F405RGT6 ARM微处理器为主控芯片，植入FreeRTOS嵌入式实时操作系统，设计了机器人VPPA焊接过程数字化控制系统；采用自适应模糊免疫PID控制算法实现电流闭环控制，获得了稳定的电流输出波形；设计了基于ARM的数字面板，实现了人机交互的数字化.结果表明，研制的机器人VPPA焊接电源动态调节性能优良，焊接过程稳定可靠，焊缝成形良好.

Research on full digital robot VPPA welding power supply

In order to improve the stability of robot variable polarity plasma arc (VPPA) welding process for aluminum alloy, a 600 A level full digital robot VPPA welding power supply based on advanced RISC machines (ARM) was developed. Double-inverter structure was adopted in the main circuit, while full-bridge inverter circuit topology was used in the primary inverter circuit, and the secondary inverter was with double-parallel-half-bridge inverter circuit structure. A STM32F405RGT6 ARM microprocessor with Cortex-M4 kernel was the main control chip with a FreeRTOS-embedded real-time operating system, and a full digital control system was designed. An adaptive fuzzy immune PID control algorithm was used to realize the closed-loop control of current, a stable current output waveform was obtained. A digital control panel based on ARM was designed to realize the digitization of human machine interaction. Both performance test and actual welding process test indicate that the developed robot VPPA welding power supply has excellent performance in dynamic adjustment, the welding process is stable and reliable with good weld formation.