基于卡尔曼滤波的Ⅴ形焊缝跟踪偏差修正

Correction of Ⅴ-type Weld Tracking Deviation Based on Kalman Filter

针对焊缝跟踪过程中存在多种噪声干扰、严重影响焊缝位置信息准确提取的现状,以碳钢平板对接为焊接试验对象,借助脉冲涡流无损检测提取焊缝位置峰值和过零时间;在此基础上,进一步采用卡尔曼滤波的系统状态最优估计方法,对焊接中心偏离状态进行修正。焊接试验结果表明:Kalman滤波算法能够有效消除多种噪声干扰,优化脉冲涡流提取信息,提高焊缝跟踪的稳定性。理论分析和实验结果相一致,验证了所采用方法的可行性。

Aiming at the status quo that a variety of noise interference was existing in the seam tracking process, seriously affecting the accurate extraction of weld location information, taking carbon steel plate butt welding as test object, weld position peak and crossing zero time were extracted by using pulsed eddy current nondestructive testing. On this basis, the system status optimal estimation method of kalman filtering was used to correct the welding center deviation. The results of welding test show that Kalman filtering algorithm can be used to effectively eliminate many noise disturbances, to optimize the pulse eddy extraction information, and to improve the stability of weld tracking. The theoretical analysis and experimental results are consistent, the feasibility of the method is verified.