The Study Of Structure Modeling And A Servo Control Software For Five Freedoms Automatic Welding Machine

With the development of weld automatization, better performances are repaired in the field of pipeline weld. How to improve the quality and efficiency of pipeline welding has become a urgent problem to be resolved. Development of PC-based numerical control pipeline weld machine will do with such a problem effectively and help to improve the weld automization in our country.Based on the analysis of civil and abroad research condition of pipeline automatic weld machine, the design of five freedoms numerical control pipeline welding machine is done more thoroughly with the PC and multi-axes move controller composed numerical control system decided and the mathematic model for the machine perfected. To adapt the width of welding lines and improve the welding quality, adding swing to the moving on theoretical center track is put forward with the actual welding process synthetically thought of. Circle swing mode and.sine swing mode are discussed as typical ones and the equations of moving tracks are established. The closed angle produced in the welding process of two round pipelines with the same diameter can result in velocity discontinuity, which makes it sharp for such a welding process to be realized, and so the arc transition correct method is given. The correctness of the moving track equation and the feasibility of the correct method are proved by the simulation of the moving track equation with Matlab.Software fit for the hardware is developed. Its main contents include: (1) Establish friendly human-computer interface, which make it convenient to input and store the often-used welding parameters. (2) Establish the communication between PC and PMAC, transfer the internal function of PMAC by loading the DLL in the program to harmonize the moving of multi-axes. (3) Develop VxD via VtoolsD to realize hardware interrupt, make the communication between VxD and application program, utilize the interrupt to read data real-timely.Experiments of sine and ellipse track curves for additional round swing are designed and the feasibility of adding swing track to former model is proved. So the critical technique problem in welding machine design is solved. At the same time a method of utilizing round swing transition horn is put forward to void shock produced in the process of welding two round pipelines of the same or similar diameter by such experiments and debugging.The software system is developed based on VC++ 6.0, BC3.1, VtoolsDS.O and Pcomm Library, and uses personal microcomputer and PMAC as the hardware development platform. The application theory of this paper, which makes a strong theoretical and experimental cornerstone for the further research on the five freedoms numerical control pipeline welding machine, is proved in two axes servo control system.