基于Kalman滤波的磁控旋转电弧传感器焊缝跟踪偏差预测

Study on deviation prediction of seam tracking using magnetron rotating arc sensor with Kalman filter

针对磁控摆动电弧扫描焊缝获取有用信息量少的问题,提出了一种基于Kalman滤波的磁控旋转电弧传感器焊缝跟踪偏差预测方法.文中简述了磁控旋转电弧传感器的基本原理,对磁控旋转电弧的运动轨迹进行了仿真,利用位置传感器对电弧进行定位,采用四分圆周采样法,运用Kalman滤波原理进行滤波处理,分析了这种方法的基本原理和计算步骤,在此基础上得到空间曲线焊缝的偏差信息,并引入加权预测矫正因子对焊缝的偏差信息进行预测矫正.结果表明,该方法用于磁控旋转电弧焊缝自动跟踪可行,提高了焊缝跟踪的精度,为预测方法用于焊缝偏差算法提供了科学依据.

To solve the problem that less useful information is accessible by using magnetron oscillating arc to scan weld seam,the paper proposed a novel deviation prediction method of seam tracking with the utilization of Kalman filter on magnetron rotating arc sensor. The position sensor is used to locate the arc and the signal taken from quarter circle sampling was processed by Kalman filter. The basic principle and the calculation steps of this method were analyzed. The weld deviation information of the space curve was finally obtained. The prediction weighted factor was introduced to predict and to correct the deviation information of the seam. The welding experimental results showed that the proposed method is feasible for automatic seam tracking based on magnetron rotating arc sensor and it also improved the accuracy.The work provides a scientific basis for the theory and algorithm of seam tracking prediction.