窄间隙焊接钨极动态运动轨迹多自由度控制

在厚壁管、压力容器及电站锅炉的窄间隙全位置焊接中，钨极运动轨迹是动态的。根据窄间隙全位置焊接工艺要求，从钨极运动轨迹角度，提出了钨极运动轨迹综合控制方案，通过对钨极柔性接触引弧轨迹上的各参数作用机理研究，提出钨极柔性接触引弧控制方法；根据钨极摆动轨迹分析，提出基值电压控制弧长和基、峰值电压值分别控制弧长两种方案；为避免在窄间隙U形坡口两侧壁出现“爬弧现象”，设计了焊缝横向运动轨迹计算机控制自动跟踪系统；根据全位置焊接重力对钨极纵向运动轨迹影响特点，设计了基于单片机控制的弧压传感可变增益PID弧长控制器。

Multi-freedom controlling of dynamic moving track of tungsten electrode in narrow-gap all-position welding

The synthesizing control scheme is put forward based on the requilement of narrow-gap all-position welding technology in terms of the moving track of tungsten electrode. Soft touch-striking arc of the tungsten electrode has been made through researching the mechanism of parameters effect on tungsten track. Two projects of arc length adjusted by backgroud and pulse vohage or backgroud voltage have been obtained by analysing the track of swing tungsten electrode. Autonomously tracing system controlled by computer on transversely moving track has been designed in order to avoid the climbing arc phenomena on two side walls of narrow gap U groove. The changeable gain proportional integral differential controller of arc length , based on arc voltage sensor and the single chip microcomputer , is developed on the characteristic of the influence of gravity on tungsten electrode vertical moving track during all-position welding .