High Pressure Water Environment Rotating Arc Sensor Welding Characteristic And Its Weld Seam Sensing And Tracking

With the development of energy resources exploitation, ship construction and repair, water aid etc, the sea steel structure emerges massively.As a key technology in the underwater construction and its maintenance, the underwater welding technology needs improving and developing. The rotating arc sensor has the advantages of weld deviation detection and welding simultaneously. Therefore there is realistic meaning for the research applying the rotating arc sensor as the sensor to carry on the weld deviation detection and deep water welding automation. At present there is no such research report at home and abroad.In this article the high-pressure tank is used to simulate the deep water environment, the rotating arc sensor is used to carry on the weld deviation detection and tracking to realize the deep water automatic welding. The research content mainly includes: The research about the arc characteristics of the high-pressure rotating arc welding;The noise elimination and deviation detection in the high-pressure rotating arc welding; the short-circuit transition model research and parameter optimization of rotating arc in the high-pressure rotating arc welding; the seam tracking in the high-pressure rotating arc welding.To study the arc characteristics under the high-pressure rotating arc welding, the simulation calculation is carried out for the electric arc. The temperature field obtained under the 0.1MPa is consistent with the majority literature's simulations and photographys in the arc contour. At the same time the arc is influenced by rotary acceleration, so it biases towardbiases the lateral center of the rotation axis. The simulation results show that with increased pressure from 0.1MPa to 1MPa, the arc temperature rise, it is in line with the law that the arc brightness is increasing along with the pressure lifting. Along with the pressure lifting, under the circumstance of exerting the same level voltage, the current density also increases.To study the arc stability in the high-pressure rotating arc wet welding, the dry and wet welding arc stability is compared, and the reason of the bad stability of the wet welding arc is analyzed. Meanwile the factors affecting the welding current and welding voltage are analyzed which includes the water depth, the protection gas flow rate, voltage size etc.To study the noise elimination in the high-pressure rotating arc welding, the plane combination filtering method is used. The simulation and experimental results show that when using the equivalent filtering method, its effect is better than that of one-dimensional filtering.To study the deviation detection in the high-pressure rotating arc welding, the relationship between deviation,oblique angle,initial phase and tracing angle are discussed, and the characteristic harmonic method is improved. The simulation and experimental results show that when the oblique angleγand tracing angleβexist at the same time, the real and imaginary method has stronger anti-interference capability than the amplitude and angle method.To study the short circuit transition model in the high-pressure rotating arc welding and the optimization of the rotating arc parameters, the force of the melt drop in the high-pressure rotating arc welding and of fluid bridge in the short circuit transition stage is analyzed in summary, the simulation model in the high-pressure rotating arc welding is set up. The simulation results and experimental results is verified each other and the rotaing frequency and rotaing radius is optimized therefore.To realize weld seam tracking in the high-pressure rotating arc welding, the summary of the tracking methods is carried out, and at last the fuzzy-slide controller is designed to track the seam.