Simulation Of Welding Seam Tracking Control Of The All-wheel-diferential Bobile Welding Robot With Rotating Arc Sensor

Welding is widely used in the manufacturing industry,the welding environment is harsh,and some welding is difficult and dangerous.Welding automation and intelligentization become the inevitable trend of the development of welding automation.Because of its many advantages,rotating arc has become one of the major weld tracking sensors.This article is based on a four-wheel-drived and all-wheel-differential steering mobile welding robot.Simulation study of weld tracking control for its virtual prototype to obtain a suitable robot control method and controller.The tracking control of the welding seam of the rotating arc mobile robot needs to establish the simulation model of the robot to design the controller for the robot,and to extract the accurate weld deviation.In order to establish the relationship between the arc length change and the weld deviation,by analyzing the arc length variation during the one cycle of the rotating arc.A new arc model considering the shortest distance discharge is established on the basis of the previous arc model and the correctness of the formula is verified.Based on this,the feature plane method is studied.A virtual weld model was established and combined with MATLAB and ADAMS according to the shortest discharge path method to obtain the arc length in the virtual prototype.Then the length of the arc was obtained by applying the least square method to the single cycle arc length by plane fitting.The feature plane establishes the correspondence between the slope and the deviation of the feature plane.The ADAMS model of the rotating arc welding robot is debugged and the correctness of the ADAMS model is verified.Because the rotating arc sensor acquires discrete signals,the signals in the simulation are discretized,and then two controllers PID and adaptive fuzzy PID are designed.Based on a virtual prototype,a joint simulation method was used to simulate and control the typical straight line and fold line welds.Firstly,the discrete PID control was used to control the research.The straight line and the initial deviation parallel line were tracked in parallel with the robot motion.There was no need to adjust the pose during the tracking process.The maximum error was less than ±0.02 mm,and the tracking effect was better.However,for the tracking of complex track welds,the cross-slide is designed with adaptive fuzzy PID controller,and the tracking of the different linear trajectories combined with the straight rectilinear slash and the straight-arc slash is performed.The maximum error in the tracking process is less than 0.4mm.The experimental structure shows that the adaptive fuzzy PID is better for tracking control of complex welds.This paper provides experience for the design of the actual rotary arc welding robot controller,reduces the cost and accelerates the application of the robot.