摆动式焊缝自动跟踪电弧传感器的研制

介绍了焊缝自动跟踪系统的组成及电弧传感器的工作原理；针对熔滴过渡所产生的高频干扰，设计了二阶巴特沃思低通滤波器对传感信号进行滤波，取得了良好的滤波效果；利用离散积分求差值的方法对焊枪左摆和右摆过程中的电流进行离散积分，通过比较积分差值判断焊枪偏移方向和偏移量。针对焊接过程中具有非线性、时变性等特征，很难建立跟踪过程的精确数学模型，采用了参数自调整的模糊控制方法对系统进行控制，明显的改善了系统的性能。

Development of Tilting Type Welding Seam Automatic Tracking Arc Sensor

The composing of welding seam automatic tracking system and the principle of arc sensor are introduced in this article. Aiming at the high-frequency interference resulting from droplet transfer, the two rank Butterworth low-pass filter is designed to filter the interference in the sense signal, with the good effect. The method of discrete integral for evaluating differential is used to perform discrete integral to current in the process of welding torch turning left and right. By comparing the integration d...