旋转电弧传感器动态电弧信号分析及其跟踪方法研究

Signal Analysis of Moving Rotating Arc Sensor and Its Seam-tracking Method

正确分析传感器的动态电弧信号是实现焊缝跟踪的基础。本文通过对焊缝跟踪过程中一个周期内动态电弧信号的建模分析,得出由于跟踪过程中焊枪的运动使传感器的信号发生变化会导致误判的结果,并设计了主信号积分差值和调节频速比的控制方法,实现了对误判的有效控制,并通过实验验证了算法的可行性和有效性。

Welding seam tracking is based on correct dynamics analysing on arc sensor signals. The analysis result shows that the misjudgment in welding seam tracking is because of the weld torch＇s movement which changes the are current signal through the simulation of one cycle of dynamic arc signal. Based on the existing integral comparison method, the main region integral comparison method and the control method of regulating speed ratio were designed. Actual seam-tracking experiments show that the algorithm is feasible and effective.