非平稳噪声下基于凸优化的自适应焊缝跟踪算法  

Adaptive Seam Tracking Algorithm Based on Convex Optimization under Nonstationary Noise

作　　者：冯宝[1] 张绍荣[1] 

机构地区：[1]桂林航天工业学院广西高校机器人与焊接重点实验室,广西桂林541004

出　　处：《热加工工艺》2017年第17期232-235,共4页Hot Working Technology

基　　金：国家自然科学基金项目(61361006);广西自然科学基金项目(2016GXNSFBA380160);广西高校机器人与焊接重点实验室主任基金项目(JQR2015ZR01)

摘　　要：针对非平稳性噪声下焊缝跟踪精度低的问题,提出了一种基于凸优化技术的自适应焊缝跟踪方法。通过熔池质心来描述焊缝位置特征,建立焊缝跟踪的状态方程和量测方程;运用凸优化理论,将量测过程中非平稳噪声的稀疏性特征以先验约束的形式引入优化过程中,通过最小化非平稳噪声的范数实现对非平稳噪声的实时估计。试验结果表明,基于凸优化的自适应焊缝跟踪方法能够减小因非平稳噪声引起的焊缝位置测量偏差,有效提高了焊缝跟踪精度。For the problem of low seam tracking accuracy under nonstationary noise, an adaptive seam tracking method based on convex optimization technique was proposed. The state equation and measurement equation of seam position were established by using the centroid of weld pool to describe seam position. Then, the sparse feature of nonstationary noise was introduced into the optimization process in form of prior constraints by using convex optimization theory, the real time estimation of nonstationary noise was realised by minimizing the norm of nonstationary noise. The experimental results show that the adaptive seam tracking method based on convex optimization can reduce the weld position measurement deviation caused by nonstationary noise and effectively improve the seam tracking accuracy.

关 键 词：信号分析 非平稳噪声 微间隙焊缝 自适应焊缝跟踪 

分 类 号：TG409[金属学及工艺—焊接]