铝合金机器人脉冲MIG焊工艺研究及基于视觉传感的熔池动态模型辨识-材料加工工程专业毕业论文.docxVIP

兰州蓬工夫学硕生学证论文Abstract 兰州蓬工夫学硕生学证论文 Abstract With the wide application of aluminum alloy transportation and aircraft，it has become more and popular for the of robotic pulsed-MIG welding for aluminum alloy Research about the controller designed in combination with modern control method for robotic pulsed．MIG welding is important in increasing production efficiency and solving stability of welding manufacture structure．Recently,extensive and thorough research is carried control ofcarbon steel pulsed GTAW．Howrever,research pulsed GTAW for aluminum alloy were still little and the research pulsed GMAW for alumiraan alloy is Ileal’ly blank．One factors is such the surface ofthe aluminum alloy reflect the visible light in whole w￡Ive range and the between the weId pool and the plate nearly is very weak，SO it is difficult take tile image of weld pool of altli alloy by ordinary visual semor．The other is that tile dynamic process of the、、’old pool is high complex object with strong non-linearity,mult··variarble coupling and amount of stochastic and uncertain factors．It is very difficult to obtain analysis mathematic model of weld pool dynamics．’fhus the modeling of weld pool dynmnics of pulsed—MIG welding for aluminum alloy becomes puzzle problem for weld technique engineers mad control system designers．which also is handicap in weld automation． As technics research provides the foundation for capture of weld pool and modeling of weld pool dynamics，this paper deeply investigated intluence of parameters of pulsed welding weld line width and capture of weld pool image image We have developed special filter technology which solves interference with electric and clear high images of weld pool be Captured through the visual sensing method，Special image processing counting method collect intbrmation of weld pool’S feature．is also developed for the modeling of weld pool dynamics of pulsed·MIG welding for aluminuul alloy and automatic controller designed weld pool width． Drop transfer