上海交通大学学报

上海交通大学学报（自然版） ›› 2015, Vol. 49 ›› Issue (03): 357-360.

• 金属学与金属工艺 • 上一篇    下一篇

基于电弧传感的管道焊接高低跟踪技术

罗雨1，韩素新1，焦向东1,周灿丰1，胡胜2   

  1. (1. 北京石油化工学院 能源工程先进连接技术北京高校工程研究中心， 北京 102617；2. 北京化工大学 机电工程学院， 北京 100029)
  • 收稿日期:2014-05-30 出版日期:2015-03-30 发布日期:2015-03-30
  • 基金资助:

    国家自然科学基金青年科学基金项目(51305037)，2013年度北京市属高校创新团队建设提升计划(IDHT20130516) 资助

Tracking Technology in Pipe Welding Based on Arc Sensor

LUO Yu1,HAN Suxin1,JIAO Xiangdong1,ZHOU Canfeng1,HU Sheng2   

  1. (1. Institution Engineering Research Center of Energy Engineering Advanced Joining Technology, Beijing Institute of Petrochemical Technology, Beijing 102617, China; 2. College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing 100029, China)
  • Received:2014-05-30 Online:2015-03-30 Published:2015-03-30

摘要：

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.

关键词: 电弧传感, 管道焊接, 跟踪技术

Abstract:

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.

Key words: arc sensor, pipeline welding, traeking technology

中图分类号: