Modeling the radiometric imaging process of weld pool

In the vision monitoring or controlling the arc welding process, it is a prerequisite to get a clear image of weld pool. However, the disturbance of arc radiation makes imaging of weld pool difficult and optical filters are usually used to improve the image quality. In this paper, a radiometric imaging model is established to investigate the influence of the filter on the image quality of the weld pool, in which the spectral distribution of weld pool radiation, the spectral transmittance of the filter, the spectral sensitivity of the camera are all considered. With the proposed model, the influence of the factors on weld pool imaging can be inferred and the selection of optical filters is discussed.

RECONSTRUCTION OF WELD POOL SURFACE BASED ON SHAPE FROM SHADING

A valid image-processing algorithm of weld pool surface reconstruction according to an input image of weld pool based on shape from shading （SFS） in computer vision is presented. The weld pool surface information is related to the backside weld width, which is crucial to the quality of weld joint. The image of weld pool is recorded with an optical sensing method. Firstly, the reflectance map model, which specifies the imaging process, is estimated. Then, the algorithm of weld pool surface reconstruction based on SFS is implemented by iteration scheme and speeded by hierarchical structure. The results indicate the accuracy and effectiveness of the approach.

Weld pool boundary and weld bead shape reconstruction based on passive vision in P-GMAW

A passive visual sensing system is established in this research, and clear weld pool images in pulsed gas metal arc welding （ P-GMA W） can be captured with this system. The three-dimensional weld pool geometry, especially the weld height, is not only a crucial factor in determining workpiece mechanical properties, but also an important parameter for reflecting the penetration. A new three-dimensional （3D） model is established to describe the weld pool geometry in P-GMAW. Then, a series of algorithms are developed to extract the model geometrical parameters from the weld pool images. Furthermore, the method to reconstruct the 3 D shape of weld pool boundary and weld bead from the two-dimensional images is investigated.

Mathematical analysis of the role of recoil pressure in weld pool dynamics during laser-MIG hybrid welding

A mathematical model was established to simulate the weld pool development and dynamic process in stationary iaser-MlG hybrid welding. Surface tension and buoyancy were considered to calculate liquid metal flow patter, moreover, typical phenomena of MIG welding, such as filler droplets impinging weld pool, electromagnetic force in the weld pool, and typical phenomena of laser beam welding, such as recoil pressure, Inverse Bremsstrahlung absorption, Fresnel absorption were all considered in the model. The laser beam and arc couple effect were introduced into this model by the plasma width during hybrid welding. The role of recoil pressure in the weld formation was discussed. Transient weld pool shape and complicated liquid metal velocity distribution from two kinds weld pool to an unified weld pool were calculated. The simulated weld bead geometry with consideration recoil pressure was in good agreement with experimental measurement.

Penetration Estimation of GMA Backing Welding Based on Weld Pool Geometry Parameters

Penetration estimation is a prerequisite of the automation of backing welding based on vision sensing technology. However, the arc interference in welding process leads to the difficulties of extracting the weld pool characteristic information, which brings great challenges to the penetration estimation. At present, most researches focus on the extraction of weld pool geometry parameters, and the visual sensing systems are complex in structure and complicated in the image processing algorithms. The research of penetration estimation based on weld pool geometry parameters is still in the exploratory stage. The purpose of this paper is to research the relationship between the weld pool geometry parameters and the penetration during backing welding and to estimate penetration using the weld pool geometry parameters. A passive vision sensing test system for gas metal arc (GMA) backing welding was established. An image processing algorithm was developed to extract the weld pool geometry parameters, namely, the area, maximum width and length, half-length, length-width ratio and advancing contact angle (simplified as AWP, MWWP, MLWP, HLWP, LWR and ACA, respectively). The corresponding relationships between the weld pool geometry parameters and the penetration state were explored by analysing their changes with the welding current and speed. The distribution of the weld pool geometry parameters corresponding to penetration was determined. When the AWP of the weld pool is within a certain range and the values of LWR and ACA are close to their maximum and minimum respectively, the penetration is in good condition. A mathematical model with the weld pool geometry parameters as independent variables and the back-bead width (the indicator of the penetration state) as a dependent variable was established based on multivariable linear regression analysis, and relevant statistical tests were carried out. Multivariable linear regression equations for the weld pool geometry parameters and the back-bead width were deduced according to the variations in the current and speed, and the equations can be used to estimate the penetration of backing welding. The study provides a solution to penetration estimation of GMA backing welding based on automatic vision sensing.

New model of body force in electromagnetic stirring gas tungsten-arc welding

After measuring arc electrical current density distribution in gas tungsten arc welding(GTAW) with a probe method, the new expression of body force and model of LD10CS aluminum alloy weld pool are put forward for the first time in GTAW with additional longitudinal magnetic field controlling. The influence of additional longitudinal magnetic field on body force is discussed by electromagnetic principle. This study provides the basis to study fluid flow of the weld pools and arc welding technique with electromagnetic controlling. [

Study on Factors Effecting Weld Pool Geometry of Pulsed Current Micro Plasma Arc Welded AISI 304L Austenitic Stainless Steel Sheets Using Statistical Approach

Pulsed current Micro Plasma Arc Welding is used to joint thin sheets of AISI 304L sheets, which are used in manufacturing of metallic bellows and diaphragms. In this article the effects of pulsing current parameters on weld pool geometry namely front width, back width, front height and back height of pulsed current micro plasma arc welded AISI 304L stainless steel sheets was analyzed. Four factors, five levels, central composite design was used to develop mathematical models, incorporating pulsed current parameters and weld pool geometry. The mathematical models have been developed by Response Surface Method. The adequacy of the models was checked by ANOVA technique. Variation of output responses with input process variables are discussed. By using the developed mathematical models, weld pool geometry parameters can be predicted.

基于融合机器学习的管道焊缝缺陷识别方法研究

为提高管道焊缝处不同缺陷类型的自动识别,以开挖后的射线焊缝图像为基础,通过对比池化域和特征图的方差信息,采用方差池化方法对传统卷积神经网络的池化层运算进行修改,随后通过鲸鱼算法实现卷积神经网络(CNN)模型超参数的选取,最终形成融合机器学习模型用于焊缝缺陷的分类,并与其余模型进行了对比验证。结果表明,鲸鱼算法可在较短时间内实现卷积核数量和大小、池化核数量和大小、卷积核激活函数类型、学习率等参数的优选;融合机器学习模型的分类结果中,未熔合和未焊透缺陷的分类准确率最高;该模型在分类准确率、训练时间和稳定性上优于其余CNN模型和支持向量机模型。研究结果可为其余压力容器或压力管道焊缝缺陷的识别提供实际参考,具有较强的通用性和扩展性。

等离子弧焊接熔池和小孔形成过程数值分析

目的研究等离子弧焊接穿孔过程中熔池内部的金属流动情况和小孔动态变化过程。方法通过“传热-熔池流动-小孔”之间的相互耦合关系,建立了等离子弧焊接穿孔过程的数值分析模型,通过VOF方法追踪了小孔界面,采用FLOW-3D软件模拟了等离子弧焊接熔池和小孔的形成过程,定量计算了等离子弧焊接温度场、熔池流场及小孔形状;分析了等离子弧焊接熔池和小孔行为;并通过等离子弧焊接实验数据验证了模拟结果。结果当焊接时间为0~1.0 s时,小孔深度曲线与熔深曲线几乎相同,小孔底部紧贴熔池底部;在2.8s以后,小孔深度曲线与熔深曲线有一定距离,小孔深度曲线在一定范围内波动,等离子弧焊接电弧挖掘作用到达极限,电弧压力与其他力达到平衡状态。模拟的焊缝熔深为8.04mm、熔宽为13.20mm,实验测得的焊缝熔深为8.00 mm、熔宽为13.42 mm。结论构建的随小孔动态变化的曲面热源模型和电弧压力模型可以描述等离子弧焊接过程中的电弧热-力分布;模拟出了等离子弧焊接熔池和小孔动态演变过程;模拟得到的等离子弧焊接焊缝形貌与实验测得的焊缝形貌基本吻合。

基于TIG焊电弧-熔池统一模型分析焊接电弧

以TIG焊电弧为研究对象,建立了电弧—熔池的统一模型,并在此模型的基础上对焊接电弧进行了分析。建立此模型就避免了对阳极表面温度的假定,使得对焊接电弧的分析与实际情况更近了一步,从而也为将焊接电弧和熔池作为一个整体来进行分析奠定了基础。采用ANSYS软件分析并得到了阳极表面温度的变化情况,阳极表面电流密度的分布状况,得出热流密度与电流密度分布规律的一致性。并从电磁力和流体流动的角度揭示了电弧压力产生的原因,并通过试验验证了电流密度和电弧压力的分布情况。

变极性等离子弧焊接熔透信息的检测与分析

通过对铝合金3003变极性等离子弧穿孔立焊熔池振荡行为的研究,发现熔池振荡频率与焊接熔透之间的内在规律。在变极性电流的作用下,焊接熔池产生振荡,可以通过对电弧电压频谱分析获得熔池固有振荡频率。分别建立变极性等离子弧穿孔立焊未熔透及完全熔透熔池模型,并分析焊接电流的变化对熔池固有振荡频率的影响,发现焊接电流大小对其影响很小,可以忽略。为了验证该模型的准确性,进行理论与实测分析,结果表明,理论值与实测值相吻合。熔池固有振荡频率主要取决于熔池宽度、深度及材料密度等参数,而其他焊接参数对其没有直接影响。因此,熔池振荡频率可间接反映焊接熔透信息,为焊接质量自动控制提供了理论支持。

Nimonic263合金薄板激光焊热源模型及参数研究

热源模型及参数选取是激光焊接热过程模拟的关键。采用MSC.Marc软件,基于高斯面-圆柱体组合热源模型研究了热源功率分配比、模型参数对Nimonic263合金薄板激光焊熔池尺寸和温度场的影响,并结合焊接实验结果确定了最佳热源功率分配比和模型参数。结果表明:熔池上宽随面-体热源功率分配比增大而增大,随面热源半径增大而减小,熔池下宽随体热源半径增大而减小;熔深随面-体热源功率分配比增大而减小,当体热源深度大于板厚时,熔池均贯穿板厚;最高温度和热影响区范围均随面-体热源功率分配比的增加先增加后减小。当面-体热源功率分配比为3:7时,所得熔池尺寸与实际焊缝尺寸吻合良好,其结果优于面-双椭球体组合热源模型的计算结果。

熔池图像质心算法的焊缝位置测量模型

建立了一种基于熔池图像质心的焊缝位置测量模型,通过视觉传感器获取焊接区熔池图像,选择熔池前端为处理区域,对该区域进行中值滤波与图像灰度变换,并计算该区域的熔池图像质心值及相对应的焊缝偏差。在不同的焊接条件下,获取多组熔池图像及对应的样本数据,应用最小二乘法建立熔池图像质心与焊缝偏差之间的关系,得到基于熔池图像质心的焊缝位置测量数学表达式。在此基础上,通过分析比较各数学表达式之间的关系,建立焊缝位置测量数学模型。计算机仿真及焊接工艺试验结果表明,该模型可有效地检测焊缝位置。

用于焊缝位置识别的视觉模型设计与试验

理论与试验研究用于焊缝位置识别的视觉模型,该模型主要由弹性梯度下降训练法BP神经网络组成。在焊接工艺条件下,使用视觉传感器获取焊接区熔池图像,并选取特定区域进行中值滤波与图像灰度变换处理以增强被测对象的特征。在此基础上,计算和处理熔池特性参量(熔池图像质心差值、质心位移、质心移动速度)以及相对应的焊缝与电弧之间的偏差值,将其输入所设计的神经网络进行网络权值参数训练和推理学习,从而建立基于BP神经网络、具有一定认知和环境适应能力的焊缝位置识别视觉模型。对该模型进行通用性检验,试验结果表明该模型通过熔池特性参量可以较精确地识别焊缝位置。

激光焊接瞬态小孔与运动熔池行为模拟

提出了一种三维瞬态小孔与瞬态熔池相结合的激光小孔焊接耦合数学模型.该模型综合考虑了多重反射菲尼尔吸收、小孔界面上的间断边界条件、金属蒸气/等离子体的辐射传热、Marangoni力、固-液相间的摩擦力、浮力、粘性力、蒸发潜热、熔化/凝固潜热,以及热传导、对流、辐射等多种因素对激光小孔焊接过程的耦合作用.采用水平集方法和快速扫描方法对小孔演化方程进行求解,得到了三维瞬态小孔形貌;并采用SOLA方法求解了瞬态熔池的三维传热和流动过程.结果表明,该模型能够较好地模拟激光小孔焊接中瞬态小孔和熔池的动态演化行为.

铝合金脉冲GTAW焊熔池表面反射模型

在机器人智能化焊接过程中,采用视觉传感方式模拟焊工视觉获取熔池的形状信息.图像的灰度值决定于光源特性、物体表面形状、反射特性和摄像机特性.熔池图像隐含熔池的形状信息,为了从图像中提取熔池的形状信息,分析了铝合金脉冲GTAW焊的熔池表面反射特性,建立了熔池表面反射模型.

熔池表面变形对电弧行为特征的影响

在电弧与熔池统一模型的基础上研究熔池上表面变形对电弧行为特征的影响。用本模型计算出的平坦熔池表面电流密度和热流密度的分布与试验结果显示了很好的一致性。而变形熔池表面的电流密度和热流密度分布则不再符合近似的高斯分布。这就为下一步研究电弧和熔池的工作提供了基础。

脉冲GTAW熔池动态过程的辨识模型

焊接熔池动态变化过程是一个具有强非线性、多变量耦合作用以及大量随机不确定性因素的高度复杂过程 ,因此很难得到熔池动态特征的解析数学模型 ,使得焊接熔池的动态过程建模成为焊接界和控制界的一大难题 ,也是实现焊接自动化的本质困难。为了对脉冲GTAW (气体保护钨极氩弧焊 )熔池动态过程特性有一个基本受控制性能的认识以实现对脉冲GTAW熔池变化过程的有效控制。本文从经典控制系统设计的角度考察脉冲GTAW熔池动态特性 ,利用试验数据采用系统辨识的方法求取其熔池特征动态性能的数学描述 ,获得了脉冲GTAW熔池动态过程中分别以脉冲峰值时间和焊接速度为输入 ,以背面熔宽为输出的两个单入单出 (SISO)过程的传递函数模型 ,并对模型进行了检验。所建模型有助于研究脉冲GTAW熔池动态过程的受控性能 ,对改善其控制系统设计具有参考价值和指导作用。

无模型自适应控制方法在脉冲TIG焊中的应用

在脉冲TIG焊系统中,应用多输入单输出的无模型自适应控制方法,通过同时调节焊接峰值电流及送丝速度,将熔池的背面熔宽控制到期望值.结果表明,只需对控制变量进行较小幅值的调整,则能够快速控制背面熔宽至期望值,从而提高其效率,且有利于背面熔宽的稳定成形.同时,通过实验进一步验证了该方法的有效性.

双丝共熔池熔化极气体保护焊熔池流动的数值模拟

利用FLOW3D软件建立三维数值模型,以模拟船用A36低碳钢双丝熔化极气体保护焊(GMAW)熔池的流动行为.采用双椭球热源模型,考虑电弧压力、表面张力、电磁力及浮力所驱动的熔池内液态金属的流动和热传递,以及辐射、蒸发、熔滴的动态冲击作用,并利用高速摄影技术观察熔池的流动行为.结果表明,双丝GMAW形成了单一共熔池,后丝产生的电弧压力分量抑制了液态金属向熔池尾部的流动,双丝之间形成的"推-拉"流动方式以及熔池向外流动方式有助于形成较好的焊缝;双丝GMAW熔池内不易形成毛细不稳定流动的现象,熔池前后表面张力的法向分量相对平衡,没有出现液体通道收缩及提前凝固的现象.