迭代学习控制在GTAW焊接过程中的应用研究  

Application of iterative learning control in control of GTAW process

作　　者：刘建[1] 卜旭辉[1] 梁嘉琪[1] 闫帅可 

机构地区：[1]河南理工大学电气学院,焦作454000

出　　处：《电子测量与仪器学报》2017年第7期1061-1066,共6页Journal of Electronic Measurement and Instrumentation

摘　　要：针对相同工件的批量焊接,并且焊接轨迹相同的情况下,焊接过程具有极高的重复性。提出了基于迭代学习控制(ILC)的脉冲气体钨极氩弧焊(GTAW)焊接过程跟踪控制方法。根据GTAW焊接的动态过程模型,设计了GTAW焊接过程控制的ILC算法,并对算法的收敛性进行了证明。研究结果表明,ILC可以有效地利用焊接过程中的重复信息,经过60次迭代学习后,焊接系统输出可以较好的达到期望轨迹,并获得较高的控制精度,验证了方法的有效性。与PID控制相比ILC控制器不但可以获得较好的跟踪效果,而且还能有效抑制外部扰动的作用,具有较强的鲁棒性。The process of welding has strong repeatability for the welding of the same parts and the same welding track.A tracking control method for gas tungsten arc welding （GTAW） process based on iterative learning control is proposed.An iterative learning control algorithm for the control of GTAW process is designed based on the dynamic process model of welding.And the convergence of the algorithm is proved.The results of research show that the repeated information of welding can be effectively used by the iterative learning control in the process of welding.After about 60 times of iteration learning, the output of welding system can better track on the desired trajectory to meet the expected control effect.It verifies the effectiveness of the proposed method.The better tracking performance can be acquired by ILC in contrast to PID algorithm and it also can suppress the effect of repetitive external disturbances.

关 键 词：GTAW焊接 迭代学习控制 跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN081[自动化与计算机技术—控制科学与工程]