Dynamic nonlinear modeling of 3D weld pool surface in GTAW

被引：12

作者：

Jin Zeshi ^{[1
]}

Li Haichao ^{[1
]}

Jia Guoqing ^{[1
]}

Gao Hongming ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Adv Welding & Joining, Harbin 150001, Peoples R China

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2016年 / 39卷

关键词：

GTAW; Weld pool surface; 3D; Hammerstein model; Dynamic nonlinear modeling; GAS TUNGSTEN; PENETRATION CONTROL; PREDICTIVE CONTROL; SYSTEM;

D O I：

10.1016/j.rcim.2015.11.004

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

As the weld pool contains abundant information about the welding process, the skilled welder always utilizes the observed information to control the weld pool to get a good weld quality. In this paper, a real-time vision sensing technology is used as the eyes of the welder to observe the gas tungsten arc welding (GTAW) pool surface and a 3D reconstruction technology is used to reconstruct the observed weld pool surface in three-dimensions. The geometric parameters are obtained from the reconstructed pool surface. Step responses are conducted to acquire the relationship between the weld pool geometric parameters and the random variation of current, and the time-domain analysis of the system is done. Various random experiments are also conducted and the dynamic relationship of the weld current and the weld pool geometric parameters is established by means of a non-linear Hammerstein model. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：1 / 8

页数：8

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