Electric Arc Length Control of Circular Seam in Welding Robot Based on Arc Voltage Sensing

被引：7

作者：

Lei, Ting ^{[1
]}

Wu, Chaoqun ^{[1
]}

Yu, Huiwen ^{[1
]}

机构：

[1] Wuhan Univ Technol, Sch Mech & Elect Engn, Wuhan 430070, Peoples R China

来源：

IEEE SENSORS JOURNAL | 2022年 / 22卷 / 04期

基金：

中国博士后科学基金;

关键词：

Welding; Voltage control; Voltage; Sensors; Tungsten; Robots; Electrodes; Arc voltage tracking; welding robot; circular seam; tracking algorithm; SYSTEM;

D O I：

10.1109/JSEN.2022.3143113

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Arc length control plays an important role in improving welding quality, especially for tube-to-tubesheet welding with numerous and dense circular seams. The difficulty of arc length control lies not only in acquisition and processing of arc voltage signal, but also in designing reasonable tracking algorithm and control method. This paper proposes an arc voltage tracking system with a self-developed arc voltage module for orbiting robotic welding. A real-time arc voltage tracking algorithm based on direct current (DC) pulse square-wave is proposed, and a two-dimension and three-section fuzzy controller are also presented. The experimental results show that the maximum peak voltage (PV) decreases from 13.92 V (circular seam A) to 13.44 V (circular seam B). The surface morphology of circular seam B with arc voltage tracking is obviously superior than that of circular seam A without arc voltage tracking. The arc voltage tracking method proposed in this manuscript has an active influence on welding quality.

引用

页码：3326 / 3333

页数：8

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