管道自动焊接小车位置的检测与其采样频率的研究

The Research of Position Measure and the Sampling Frequency of Pipe Automatic Welding Bug

为了提高焊接小车的位置(即角度)的检测精度,要确定合适的采样频率,同时采用适合的数字滤波方法。对焊接小车的位置(即角度)信号的频率特性进行了分析,根据香浓采样定理确定了角度信号的采样频率;采用递推—平均值法对采样信号进行了数字滤波。经过系统调试表明:对管道焊接小车位置(即角度)的检测效果良好。

In order to improve the position（or angle） detection precision of pipe automatic welding bug,proper sampling frequency must be determined,while proper digital filtering methods must be used.In this work the frequency character of angle signal is analyzed,the sampling frequency of angle signal is determined according to Fragrant sampling theorem;the angle sampling signal is filtered digitally by recursive average method.After adjustment,the detection effect of the position of pipe automatic welding bug is well.