旋转电弧水下药芯焊丝电弧焊的智能化焊接系统

论述了基于旋转电弧传感的湿法水下电弧焊V形坡口焊缝跟踪技术.搭建了基于旋转电弧传感器的水下焊缝自动跟踪试验系统的硬件平台,确定了浅水水下湿法药芯焊丝焊接(FCAW))的工艺参数.利用焊接电流区间积分差值法进行焊枪水平偏差和竖直偏差的判别,通过数字信号处理来提高信号的稳定性、可靠性和一致性;通过理论和试验数据的分析,得到了水平和竖直方向的偏差判别方法;设计了模糊控制器和复合PID控制器,通过不同条件下的试验证明了以上工作的有效性.

Automatic underwater arc welding seam-tracking system based on flux-core wire and rotating arc sensor

The wet underwater arc welding seam-tracking technology based on rotating arc sensor is introduced.An experimental system used to study the welding automation is established and welding parameters are found out at first for flux core arc welding based on experiments.The approach of calculating the welding current integration differences is adopted here to determine the weldinggun horizontal bias and vertical bias.Manifold digital signal process methods are performed on all sampled noisy signals to improve stability and reliability of results;Analysis on massive experimental data revealed that both horizontal bias and vertical bias can all be clarified clearly by this way;Further more, a manipulating system is carried out on above conclusions, and two kinds of different manipulators-Fuzzy controller and hybrid PID controller are designed separately to adjust the horizontal deviation and vertical deviation.The results of verifying tests approved the effectiveness of all above work.