摆动tig焊焊跟踪传感器及其系统的研究.pdfVIP

摘 要 摘 要 随着现代化生产的发展，对焊接自动化和智能化提出了越来越高的要求。而自动化 焊接首先要解决的问题是实现焊缝自动跟踪。本研究采用了双焊枪结构（小电流的摆动 TIG焊枪作为传感器前置，用来焊接的焊枪置于传感器后），成功地实现了焊缝跟踪。 本研究主要解决了以下的关键问题： 1.设计了电弧信号初级处理电路，该电路具有良好的线性度区间，完全适用于本研 究的TIG焊焊缝跟踪传感器。 2.采用二阶Butterworth滤波电路对电压采样信号进行硬件处理，成功地提取出了反 映坡口状态的弧压信号。采用光码盘技术来记录转动电机的位置，从而确定了电弧的实 时扫描位置。 3.通过分析焊缝坡口的特征和弧压信号的变化特点，采用积分比较法来解决V型坡 口的横向跟踪问题，采用自学习确定高低跟踪参考值的方法来解决V型坡口的高低方向 跟踪问题；分析了搭接坡口的几种跟踪策略，提出了一种改进的积分比较法。 4.针对本研究与传统电弧传感器的不同之处：传感器与焊枪独立，即采用两套独立 的十字滑架单独驱动，提出了分别针对传感器和焊枪的控制策略——对于传感器，采用 参数模糊自整定PID控制方法，大大地提高了传感器的焊缝识别精度；对于焊枪，其控 制信号由传感器检测得到的信号给出，而焊枪由于滞后于传感器一段时间，因而属于大 滞后系统的范畴，采用带Smith预估补偿器的PID控制方法，成功的实现了焊缝的跟踪。 5.完成了相关硬件电路的制作、软件程序的编写及调试工作。 关键词： 焊缝跟踪；电弧传感器；参数自整定模糊PID控制；Smith预估补偿 I Abstract Abstract The automatic welding and intelligent welding technologies are put forward to higher and higher requests as the development of the industry and manufacturing. And the key point of the automatic welding is to solve the auto tracking of the seam. It adopts a double-gun construction in this research (the swing arc TIG gun of small electric current places before as the sensor, and the real gun for welding is placed behind the sensor), which realizes the seam tracking successfully. In this paper, we have resolved such key problems: 1. Designed the primary signal handling electric circuit, which has a good linear zone, being applicable to this investigate completely. 2. We adopt the two-rank Butterworth filter circuit to treat with the sampled voltage signal, and get the proper signal which can reveal the actual condition of the seam. And we use the technology of encoder-rotary to fix the position of the rotating motor, thus we can fix the real time scanning position of the arc. 3. By analyzing the cha