管道自动焊接小车行走控制的研究  

Research on the motion control of pipe automatic welding bug

作　　者：张立新[1] 纪文刚[1] 李铁香[1] 

机构地区：[1]北京石油化工学院信息工程学院自动化系,北京102617

出　　处：《焊接技术》2015年第12期69-72,2,共4页Welding Technology

基　　金：国家863高科技资助项目(2006AA09A105);国家自然科学基金项目(40776054)

摘　　要：由于管道自动焊接小车行走的质量直接影响管道自动焊接的质量,所以对管道焊接小车行走的控制非常重要。根据焊接工艺要求,对焊接小车在管道不同的焊接位置(即角度)有不同的速度要求,所以为了提高焊接质量,需要控制焊接小车在不同位置按照不同的速度运行。把此系统设计成为速度随动系统,焊接小车在沿管道行走焊接过程中,在不同的位置焊接小车所驱动的负载也在发生较大的变化,为了实现高质量的速度控制效果,速度控制器的控制参数不能设计为唯一,而设计成多套参数。对该系统的速度控制器参数分3种情况分别进行了优化,使管道自动焊接小车正常运行时会根据3种不同的焊接情况自动调整速度控制参数,经过调试,焊接效果良好。The welding quality of pipe is impacted directly by the motion quality of pipe automatic welding bug, so the motion control of pipe welding bug is very important. According to the welding technology, the welding speed is different by different welding position of pipe welding bug. For improving pipe welding quality, the welding bug must move by different speed when it is in different position. This system is designed speed servo system, when the welding bug is in different position, its load change is very large. In order to realize the high quality speed control, the control parameter of the speed controller can't be designed single, multi-sets the control parameter of the speed controller must be designed. The control parameters of the speed controller are optimized by three deferent situations, the welding bug can adjust automatically the speed control parameter. The effect of welding is well after debugging.

关 键 词：管道焊接小车 行走 速度控制器 参数优化 

分 类 号：TG439.9[金属学及工艺—焊接]