基于电弧传感的管道焊接高低跟踪技术

摘要： 针对管道焊接过程中焊接规范变化的特点，建立了不同区位焊接电流与焊枪高度的数学模型，提出了可变增益的PID(Proportion Integration Differentiation)多模型控制算法，设计了基于模糊切换规则的多模型控制器.试验结果表明，高低跟踪系统的稳态和动态性能良好，可实现不同焊接规范下焊矩高度的实时跟踪控制，保证了焊接过程的稳定性，改善了焊接质量.

Tracking Technology in Pipe Welding Based on Arc Sensor

Abstract： It is difficult to control the position of the torch very accurately for long periods because of the errors caused by the processing of pipeline and orbital assembled and thermal deformation. To adjust the torch height at a constant length is one of the key factors to guarantee the welding quality in the all position of pipeline welding. A mathematical model was built regarding the relationship between the welding current and the CTWD, a multi model variable gain PID control algorithm was proposed, and a multi-model controller based on fuzzy switching rules was designed to deal with the changes of welding standard in all position welding. The test results show a good steady state and dynamic performance in CTWD control. The real time CTWD control in different welding standard can be achieved. These methods ensure the stability of the welding process and improve the quality of welding.