基于自适应的容器内壁堆焊焊炬高度跟踪技术研究  

Research on adaptive torch height tracking technology for overlay welding on inner walls of containers

作　　者：张宁[1] 薛瑞雷 夏磊 康峰 ZHANG Ning;XUE Ruilei;XIA Lei;KANG Feng(Intelligent Manufacturing Modern Industry(College of Mechanical Engineering),Xinjiang University,Urumqi 830046,CHN)

机构地区：[1]新疆大学智能制造现代产业学院(机械工程学院),新疆乌鲁木齐830046

出　　处：《制造技术与机床》2025年第1期141-147,共7页Manufacturing Technology & Machine Tool

基　　金：新疆维吾尔自治区自然科学基金面上基金项目(2022D01C391);新疆大学“优秀博士研究生创新项目”(XJU2022BS092)。

摘　　要：焊炬高度跟踪是立式容器内壁自动化堆焊修复的关键技术,针对堆焊过程中焊炬高度实时跟踪困难等问题,设计了一种基于积分项的模型参考自适应(model reference adaptive control,MRAC)堆焊焊炬高度跟踪控制器,引入积分项增强控制器的跟踪电流抗干扰能力,并采用无限脉冲响应滤波器(infinite impulse response, IIR)对采集的堆焊电流进行滤波处理,建立横焊的焊炬高度-焊接电流数学模型计算焊炬高度偏差,利用积分项MRAC控制器进行焊炬高度纠偏。试验结果表明,采用积分项MRAC控制方法的最大跟踪误差为±0.34 mm,满足容器内壁自动化堆焊的焊接质量控制要求。The torch tracking height is a critical technology for the automated cladding repair of the inner wall of vertical containers.Addressing the issue of real-time tracking difficulty of the torch height during the cladding process,a model reference adaptive control(MRAC)torch height tracking controller based on an integral term was designed.The integral term enhances the controller’s ability to resist tracking current interference.An infinite impulse response(IIR)filter was used to filter the collected cladding current.A mathematical model of the relationship between torch height and welding current was established to calculate the torch height deviation.The integral term MRAC controller was then used to correct the torch height deviation.Experimental results show that the maximum tracking error using the integral term MRAC control method is within±0.34 mm,meeting the welding quality control requirements for the automated cladding of the inner wall of containers.

关 键 词：容器内壁修复 自动化堆焊 模型参考自适应控制 高度跟踪 

分 类 号：TG441.7[金属学及工艺—焊接]