基于失真信号滤波算法的送丝速度检测方法

doi:10.16183/j.cnki.jsjtu.2021.270

上海交通大学学报 ›› 2022, Vol. 56 ›› Issue (10): 1334-1340.doi: 10.16183/j.cnki.jsjtu.2021.270

基于失真信号滤波算法的送丝速度检测方法

乐健¹^,², 刘一春², 张华², 陈小奇¹()

1.上海交通大学材料科学与工程学院;上海市激光制造与材料改性重点实验室上海 200240
2.南昌大学信息工程学院,南昌 330031

收稿日期:2021-07-23 出版日期:2022-10-28 发布日期:2022-11-03
通讯作者: 陈小奇 E-mail:xqchen@sjtu.edu.cn.
作者简介:乐健(1987-),男,江西省抚州市人,博士后,从事焊接机器人及其视觉研究.
基金资助:
国家自然科学基金(62163028);上海市大型构件智能制造机器人技术协同创新中心开放基金(ZXP20211101)

A Detection Method of Wire Feeding Speed Based on Filtering Algorithm of Distortion Signal

LE Jian¹^,², LIU Yichun², ZHANG Hua², CHEN Xiaoqi¹()

1. School of Materials Science and Engineering; Shanghai Key Laboratory of Materials Laser Processing and Modification, Shanghai Jiao Tong University, Shanghai 200240, China
2. School of;Information Engineering, Nanchang University, Nanchang 330031, China

Received:2021-07-23 Online:2022-10-28 Published:2022-11-03
Contact: CHEN Xiaoqi E-mail:xqchen@sjtu.edu.cn.

摘要/Abstract

摘要：

送丝速度对焊接质量具有重要影响,为了实现机器人智能焊接,需要研究送丝速度的精确检测方法.首先,研究了送丝速度检测的工作原理,实现送丝速度在线检测.然后,设计出了一种送丝速度检测系统硬件,将送丝速度传感信号无线传输给焊接机器人.最后,研究了基于失真传感信号滤波算法的送丝速度检测方法,主要包括相邻送丝速度传感信号不会发生突变原理、多个传感信号丢失且相邻检测量未发生突变的干扰信号消除算法以及送丝速度检测方法.实验结果表明,利用设计的送丝速度检测算法及系统,可以消除原始送丝速度传感信号中的主要噪声,提高送丝速度检测的精度,并可使机器人焊接后焊道的宽度不受焊接电流变化的影响.

关键词: 送丝速度, 失真信号, 滤波算法, 在线检测, 机器人焊接

Abstract:

Wire feeding speed has an important effect on the welding quality. In order to realize robot intelligent welding, it is necessary to study the accurate detection method of the wire feeding speed. First, the working principle of the wire feeding speed detection is studied, thus the wire feeding speed online detection can be realized. Then, a kind of wire feeding speed detection system is designed, which wirelessly transmits the sensing signal of the welding wire to the welding robot. Finally, the detection method of the wire feeding speed based on the filtering algorithm of distortion sensing signal is studied, including the principle of no mutation of adjacent wire feeding speed sensing signal, the interference signal elimination algorithm for adjacent detection signal of multiple sensing signal loss without abrupt change, and the detection method of the wire feeding speed. The experimental results show that the main noise in the original wire feeding speed sensing signal can be eliminated by using the designed algorithm and system, and the accuracy of the wire feeding speed detection can be improved. In addition, the width of weld pass after robot welding can not be affected by the change of the welding current.

Key words: wire feeding speed, distortion signal, filtering algorithm, online detection, robot welding

中图分类号:

TG409

乐健, 刘一春, 张华, 陈小奇. 基于失真信号滤波算法的送丝速度检测方法[J]. 上海交通大学学报, 2022, 56(10): 1334-1340.

LE Jian, LIU Yichun, ZHANG Hua, CHEN Xiaoqi. A Detection Method of Wire Feeding Speed Based on Filtering Algorithm of Distortion Signal[J]. Journal of Shanghai Jiao Tong University, 2022, 56(10): 1334-1340.

图/表 8

图1

图2

图3

图4

图5

表1

送丝速度检测精度

U/V	I/A	$v - 2$ / (cm·s^-1)	$v - 1$ / (cm·s^-1)	δ₁/%	$v -$ / (cm·s^-1)	δ₂/%
25	170	9.43	50.08	431.07	9.51	0.8
25	210	14.2	161.86	1039.86	13.3	6.3

表1

图6

图7

参考文献 11

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基于失真信号滤波算法的送丝速度检测方法

A Detection Method of Wire Feeding Speed Based on Filtering Algorithm of Distortion Signal

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