规则自调整模糊控制的弧焊机器人焊缝纠偏研究  

Intelligent Control for the Correction of Welding Path Deviation on Welding Robot with Rotating Arc Sensor

作　　者：欧阳快德[1] 张华[1] 贾剑平[1] 徐建宁[1] 

机构地区：[1]南昌大学机电研究所,江西南昌330029

出　　处：《机电产品开发与创新》2006年第2期9-11,共3页Development & Innovation of Machinery & Electrical Products

基　　金：国家自然科学基金项目(59875034)

摘　　要：采用特征谐波法准确识别焊缝偏差,研究熔池对坡口的影响作用,采用补偿因子加权处理可有效地减小这种影响,因此提高了对偏差的识别能力。采用规则自调整模糊控制器进行焊缝纠偏控制,以克服常规模糊控制器的不足,使其具有良好性能。Introduce the constitute and working theory of intelligent control system for the correction of welding path deviation on welding robot with rotating arc sensor. Identify exactly welding seam deviation by the characteristic harmonic approach, the effect of the molten pool on the weld groove is studied and a compensatory weight factor could effectively reduce this effect , hence increase the recognition ability of identifying welding seam. Use rule auto-adjusting fuzzy controller for the correction of welding path deviation to conquer the shortage of general fuzzy controller and make the system having perfect capability.

关 键 词：旋转电弧 焊缝纠偏 特征谐坡 规则自调整 模糊控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]