Research On Multi-axis Coupling Control Based On Welding Seam Position Tracking And Pose Tracking

Due to various uncertainties in the actual welding process,causing the welding trace from the weld seam deviation is formed,thereby affecting the welding quality.Seam tracking as a key technology in the field of welding automation,is to solve this problem by optimizing the equipment to realize real-time extraction of trajectory deviation and adjustment of welding trajectory.Usually the seam tracking process,the axis deviation is adjusted according to their own,can well solve the single axis tracking precision,but the weld tracking is multi axis coordinated control results,each adjusting axis tracking error coordination will be directly reflected to the weld contour.Therefore further study According to the contour error as the weld control target pose tracking is important to improve the level of welding automation.According to the process of GTAW composite sensing technology based on the seam tracking the position of the multi axis coupling control research.The design of a passive visual sensor and arc voltage sensor composed of a composite sensing system to obtain real-time characteristic information of weld seam is comprehensive and reliable,clear and stable,the corresponding processing algorithms and a complete set of image information extraction and arc weld pose deviation.In addition Gugao platform based on the design of a weld pose adjustment system and the related welding fixture.Finally,using multi threading technology in Visual C++software system is developed under the environment of a seam tracking system software,realizes the vertical position welding vertical position and tilting angle attitude tracking.After the first analysis of error sources for seam tracking system,and establishes a calculation model of contour error only pose weld seam position tracking and translational axis rotation axis tracking case.Design a set of seam coupling control of multi axis according to the contour error of pose tracking system,due to the direct control of contour error not so,the proportional allocation model of the corresponding seam tracking error compensation amount.In addition a Fuzzy-P controller design,and through the MATLAB simulation results show its good properties.Finally,two cases were with rotating shaft system based on developed on the two axis and Translation The software of multi axis coupling control system for welding seam position tracking is obtainedIn order to verify the effectiveness of the welding seam tracking system and themulti axis coupling control system,the paper makes use of the multi axis coupling control system which is not designed to carry out the thin plate butt joint tracking test in the GTAW welding seam position tracking system.The experimental results show that the design of weld pose tracking system can effectively ensure the quality of welding,the application of multi axis coupling control the system makes the weld tracking accuracy is improved,to achieve the desired objectives.