基于旋转电弧传感器的角焊缝跟踪  

Fillet weld tracking based on rotating arc sensor

作　　者：乐健[1] 张华[1] 叶艳辉[1] 彭园[1] 

机构地区：[1]南昌大学江西省机器人与焊接自动化重点实验室,南昌330031

出　　处：《焊接学报》2015年第5期5-9,113,共6页Transactions of The China Welding Institution

基　　金：国家高技术研究发展计划项目(863计划;2013AA041003)

摘　　要：为了提高基于旋转电弧传感机器人跟踪角焊缝的准确度,解决基于水平滑块伸缩跟踪焊缝时水平滑块行程不够的问题.通过组合滤波方法,可以滤除焊接电流中的大部分噪声.利用最小二乘直线去拟合某些采样点,用拟合直线的斜率进行偏差识别.以偏差和最近三次偏差之和作为模糊控制器的输入量,经过模糊化,模糊推理,单点集重心法使模糊量清晰化,完成了模糊控制器的设计.再通过两轮差速运动跟踪角焊缝.最后进行了角焊缝的跟踪.结果表明,利用该方法,解决了跟踪焊缝时水平滑块行程不够的问题,基于旋转电弧传感机器人跟踪角焊缝的可靠性好,准确度高.In order to improve the accuracy of fillet weld tracking of robot based rotating arc sensor,and to solve the problem that the horizontal stroke is not enough long when tracking weld based on horizontal slider. Combined filter was used to filter out most of the noise of welding current. Using least square method to fit the sampling point and then the slope of the fitting line was used to identify the deviation. The deviation and the sum of the last three times of deviation were taken as input parameter of fuzzy controller. Through fuzzy processing,fuzzy reasoning,single point set gravity method,the fuzzy controller was designed by clarifying the fuzzy parameter. The fillet weld was tracked based on differential movement of two rounds. Finally the fillet weld was experimentally tracked. The experiment result showed that the method solved the problem of insufficient length of horizontal stroke in tracking weld,and it also improved the reliability and accuracy of the rotating arc sensor in tracking fillet weld.

关 键 词：旋转电弧传感器 滤波 偏差识别 模糊控制 焊接自动化 

分 类 号：TG409[金属学及工艺—焊接]