旋转电弧双丝串列焊焊缝跟踪
Seam tracking for tandem twin-wire rotating arc welding
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摘要: 从时域波形、统计特征、自相关特性以及互相关特性等方面分析了旋转电弧双丝串列焊焊接电流的变化规律.结果声明，当空载电流增大时，前置焊丝上的焊接电流成正弦波动，并具有明显的自相关特性，表明空载电流的增大有助于提高电弧传感的灵敏度，但同时前后焊丝上的焊接电流互相关系数变大，说明二者相互影响增加.当空载电压增大时，电弧的挺度增加，前置焊丝上的焊接电流正弦波动变小，电弧传感的灵敏度变差.设计了软阈值小波滤波算法和分段参数自调整模糊控制算法，实现了双丝串列焊水平弯曲角焊缝跟踪，焊接速度达到90 cm/min.Abstract: The characteristics of welding current was investigated in terms of waveform, statistical characteristic, self-correlation and cross-correlation of the welding current in the process of tandem twin-wire welding with rotating arc. It showed that the welding current on the front wire are fluctuating with an approximate sine wave, due to the varying tip-to-workpiece distance with arc rotating. Based on the analysis of welding currents and voltages, it is found that the self-correlation factors of the welding current of the front wire apparently increased with the increasing of idling weld current, which means that the increase of weld current is helpful to improve the sensitivity of rotating arc sensor. However, the influence between the two wires was increased with the increase of welding current. With the increase of weld voltage, the stiffness of arc was increased and the fluctuation of welding currents in the leading wire decrease, which lead to the decrease of sensitivity of rotating arc. A soft threshold wavelet filter algorithm and a segment parameter self-turning fuzzy control method was developed, the curved fillet weld seam tracking was achieved successfully under the welding speed of 90 cm/min.
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Keywords:
- tandem twin-wire weld /
- arc sensing /
- self correlation /
- cross correlation /
- weld seam tracking
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