Adaptive Control of Weld Penetration by Detecting Oscillation and Shape of the Weld Molten Pool

通过检测焊接熔池的振动和形状来自适应控制焊接熔深

基本信息

批准号：
09650796
负责人：
SUGA Yasuo
金额：
$ 2.43万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1998
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650796/
关键词：
Welding robot Visual sensing Welding line Automatic seam tracking Molten pool Control of penetration Image processing 自動溶接

项目摘要

In this year, a robust control system for recognizing and controlling the penetration of the weld in butt welding of thin steel plates was constructed. In this system, the recognition of the molten pool shape and detection of peculier frequency of molten pool oscillation were performed. Furthermore, in order to obtain sound weld regardless change of welding conditions, such as groove shape, gap of groove and so on, system to diagnose the welding phenomena during welding and to control welding conditions were constructed.Main results obtained are summarized as follows.(1) An intelligent welding robot system with vision sensors that observe the shape and dimensions of the weld molten pool, including length, width and area was constructed.(2) An adaptive control system to optimumly control the penetration of weld by controlling the dimensions of the weld molten pool was constructed.(3) An adaptive control system using Artificial Neural Network was proposed. lt has an input layer of six units for length, width, area, welding speed, welding current and root gap of welding line, an output layer of seven units that indicates change of welding current, and an hidden layer of eight units.(4) Applying pulse current as welding current and detecting oscillation of arc voltage during base current time, the frequency of the oscillation of molten pool can be detected.(5) A system to control penetration welding using the principle to detect the peculiar frequency of molten pool was constructed.(6) Mild steel plate welding experiments using TIG arc welding method were performed. The effectiveness of the constructed welding control systems was confirmed.

在今年，构建了一个可靠的控制系统，用于识别和控制焊缝在薄钢板的对接焊接中的穿透。在该系统中，进行了熔融池形状的识别和熔融池振荡频率的检测。此外，为了获得声焊接，无论焊接条件的变化，凹槽形状，凹槽间隙等都有什么变化，以诊断焊接过程中的焊接现象和构建控制焊接条件的系统，构建了焊接结果。（2）通过控制焊接熔融池的尺寸来最佳控制焊缝的自适应控制系统。（3）提出了使用人工神经网络的自适应控制系统。 LT具有六个单位的输入层，用于长度，宽度，面积，焊接速度，焊接线的焊接和根间隙，一个输出层的七个单元的输出层，表明焊接电流的变化以及八个单位的隐藏层。（4）将焊接电流和检测到载量轨迹的旋转量的旋转电流频率（量）的频率（均量轨迹）的频率为5的频率，该脉冲电流的频率为5）。使用原理来检测熔融池的特殊频率。（6）使用TIG ARC焊接方法进行了熔融池的特殊频率。确认了构建的焊接控制系统的有效性。