本文選題：焊縫位姿跟蹤 + 輪廓誤差�。� 參考：《南昌航空大學(xué)》2017年碩士論文

【摘要】：在實(shí)際焊接過程中,因?yàn)楦黝惒欢ㄒ蛩氐挠绊?導(dǎo)致焊接軌跡偏離焊縫,即形成焊縫偏差,從而對焊接質(zhì)量產(chǎn)生影響。焊縫跟蹤作為焊接自動(dòng)化領(lǐng)域一項(xiàng)具有關(guān)鍵意義的技術(shù),就是針對這個(gè)問題通過優(yōu)化系統(tǒng)設(shè)備實(shí)現(xiàn)實(shí)時(shí)提取軌跡偏差并調(diào)節(jié)焊接軌跡。通常焊縫跟蹤過程中,各軸根據(jù)各自偏差進(jìn)行調(diào)節(jié),可以很好地解決單軸的跟蹤精度,然而焊縫位姿跟蹤是多軸協(xié)調(diào)控制的結(jié)果,每個(gè)調(diào)節(jié)軸的跟蹤誤差不協(xié)調(diào)會(huì)直接體現(xiàn)到焊縫輪廓上。因此進(jìn)一步研究以輪廓誤差作為控制目標(biāo)的焊縫位姿跟蹤對提高焊接自動(dòng)化水平有著重要意義。本文針對基于復(fù)合傳感技術(shù)的GTAW過程,進(jìn)行焊縫位姿跟蹤的多軸耦合控制研究。設(shè)計(jì)了一套由被動(dòng)視覺傳感器和弧壓傳感器組成的復(fù)合傳感系統(tǒng)實(shí)時(shí)獲取全面可靠、清晰穩(wěn)定的焊縫特征信息,及其對應(yīng)的一套完整的圖像和弧壓信息的處理算法提取焊縫位姿偏差。另外基于固高平臺(tái)設(shè)計(jì)了一套焊縫位姿調(diào)節(jié)系統(tǒng)及相關(guān)焊接件夾具。最后在Visual C++軟件系統(tǒng)環(huán)境下采用多線程技術(shù)開發(fā)了一套焊縫跟蹤系統(tǒng)軟件,實(shí)現(xiàn)包含縱向、豎向位置及焊槍行走角的姿態(tài)的焊縫位姿的跟蹤。首先針對焊縫跟蹤系統(tǒng)的誤差來源進(jìn)行分析之后,建立了只有平動(dòng)軸的焊縫位置跟蹤和帶轉(zhuǎn)動(dòng)軸的焊縫位姿跟蹤情況下的輪廓誤差計(jì)算模型。設(shè)計(jì)了一套針對輪廓誤差的多軸耦合控制的焊縫位姿跟蹤系統(tǒng),由于輪廓誤差不能直接進(jìn)行控制,所以提出了相應(yīng)的焊縫跟蹤誤差補(bǔ)償量的成比例分配模型。此外設(shè)計(jì)了一套Fuzzy-P控制器,并通過MATLAB仿真試驗(yàn)驗(yàn)證其具有優(yōu)良的性能。最后對兩平動(dòng)軸和帶轉(zhuǎn)動(dòng)軸兩種情況分別基于所開發(fā)的系統(tǒng)軟件進(jìn)行優(yōu)化,得到含多軸耦合控制的焊縫位姿跟蹤的系統(tǒng)軟件。為驗(yàn)證焊縫跟蹤系統(tǒng)及多軸耦合控制系統(tǒng)的實(shí)效性,分別利用有無所設(shè)計(jì)的多軸耦合控制系統(tǒng)在GTAW焊縫位姿跟蹤系統(tǒng)進(jìn)行薄板對接跟蹤試驗(yàn)對比。試驗(yàn)結(jié)果表明,設(shè)計(jì)的焊縫位姿跟蹤系統(tǒng)能夠有效保證焊接質(zhì)量,多軸耦合控制系統(tǒng)的應(yīng)用使得焊縫位姿跟蹤精度得到穩(wěn)定提高,達(dá)到預(yù)期目標(biāo)。
[Abstract]:In the actual welding process, because of the influence of various uncertain factors, the welding track deviates from the weld seam, that is, the welding seam deviation is formed, which has an effect on the welding quality. As a key technology in the field of welding automation, welding seam tracking is aimed at this problem by optimizing system equipment to achieve real-time extraction of trajectory deviation and adjustment of welding trajectory. In the process of welding seam tracking, each axis can be adjusted according to its own deviation, which can solve the tracking accuracy of single axis well. However, position and attitude tracking of weld seam is the result of multi-axis coordinated control. The tracking error of each adjusting shaft is not coordinated directly to the weld profile. Therefore, it is important to further study the seam position and pose tracking with contour error as the control target to improve the level of welding automation. In this paper, multiaxial coupling control of position and attitude tracking of weld seam is studied for GTAW process based on composite sensing technology. A complex sensing system composed of passive vision sensor and arc pressure sensor is designed to obtain comprehensive, reliable, clear and stable weld seam characteristic information in real time. A complete set of image and arc voltage information processing algorithm is used to extract the position and attitude deviation of weld seam. In addition, a welding position adjustment system and related welding fixture are designed based on the fixed height platform. Finally, a set of weld seam tracking system software is developed by using multithreading technology in Visual C software environment, which can track the position and attitude of weld seam including longitudinal, vertical position and welding torch walking angle. After analyzing the error source of the weld tracking system, the calculation model of the contour error is established under the condition of the position tracking of the weld with the translational shaft and the tracking of the position and orientation of the weld with the rotating shaft. A welding seam position and attitude tracking system based on multi-axis coupling control for contour error is designed. Because contour error can not be controlled directly, a proportional distribution model of compensation amount for seam tracking error is proposed. In addition, a set of Fuzzy-P controller is designed, and its excellent performance is verified by MATLAB simulation. Finally, based on the developed system software, the system software for position and attitude tracking of weld seam with multi-axis coupling control is obtained. In order to verify the effectiveness of the weld seam tracking system and the multiaxial coupling control system, the tracking experiments of thin plate docking were carried out by using the multi-axis coupling control system designed in GTAW welding seam position and attitude tracking system. The experimental results show that the welding seam position and attitude tracking system can effectively guarantee the welding quality, and the application of multi-axis coupling control system can improve the precision of position and attitude tracking steadily and achieve the desired goal.
【學(xué)位授予單位】：南昌航空大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG409

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 王東斌;汪惠芬;;基于LS-SVM和神經(jīng)網(wǎng)絡(luò)的五軸加工中心誤差補(bǔ)償策略[J];機(jī)械工程與自動(dòng)化;2015年04期

2 何葉;王志選;劉鑫;;復(fù)合型非線性控制器在時(shí)變非線性系統(tǒng)控制中的研究及應(yīng)用[J];測控技術(shù);2015年01期

3 張代林;劉宇晗;楊吉祥;陳幼平;;基于多層模糊控制的交叉耦合補(bǔ)償方法的研究及應(yīng)用[J];機(jī)械設(shè)計(jì);2012年01期

4 徐龍勇;夏仲軍;;大型復(fù)雜結(jié)構(gòu)件的焊接應(yīng)力與變形控制[J];焊接技術(shù);2011年12期

5 楊莉;杜成超;翟紫陽;張建明;馬海瑞;;基于貝葉斯神經(jīng)網(wǎng)絡(luò)的焊縫跟蹤方法[J];熱加工工藝;2011年23期

6 張文增;陳念;陳強(qiáng);孫振國;;基于鎢極倒影的GTAW三維焊縫位置檢測[J];焊接學(xué)報(bào);2010年03期

7 陳海永;徐德;王宏;;三維曲線焊縫兩種建模方法的比較[J];焊接學(xué)報(bào);2008年06期

8 張軻;吳毅雄;金鑫;;基于高斯基模糊神經(jīng)網(wǎng)絡(luò)的移動(dòng)焊接機(jī)器人焊縫實(shí)時(shí)跟蹤[J];焊接學(xué)報(bào);2007年09期

9 王繼業(yè);;用串行口控制步進(jìn)電機(jī)兩維運(yùn)動(dòng)系統(tǒng)[J];微計(jì)算機(jī)信息;2007年07期

10 葉建雄;張華;謝劍鋒;;神經(jīng)網(wǎng)絡(luò)在焊縫跟蹤中的應(yīng)用研究[J];焊接技術(shù);2006年02期

相關(guān)博士學(xué)位論文 前2條

1 李宏勝;輪廓跟蹤運(yùn)動(dòng)控制系統(tǒng)關(guān)鍵技術(shù)的研究[D];東南大學(xué);2005年

2 肖本賢;多軸運(yùn)動(dòng)下的輪廓跟蹤誤差控制與補(bǔ)償方法研究[D];合肥工業(yè)大學(xué);2004年

相關(guān)碩士學(xué)位論文 前8條

1 劉洪珍;基于神經(jīng)網(wǎng)絡(luò)的直線電機(jī)輪廓誤差控制技術(shù)研究[D];合肥工業(yè)大學(xué);2016年

2 秦濤;基于結(jié)構(gòu)光視覺傳感器的焊縫實(shí)時(shí)跟蹤控制[D];上海交通大學(xué);2012年

3 顧海巍;基于神經(jīng)網(wǎng)絡(luò)的靈巧手交叉耦合控制研究[D];哈爾濱工業(yè)大學(xué);2011年

4 劉翠霞;旋轉(zhuǎn)電弧自保護(hù)焊焊縫成形及自動(dòng)跟蹤的研究[D];華南理工大學(xué);2011年

5 李昌武;Fuzzy-PID復(fù)合控制器及其在溫控系統(tǒng)中的應(yīng)用[D];湖南師范大學(xué);2008年

6 孫慰;基于CCD視覺傳感的焊縫跟蹤技術(shù)的研究[D];上海交通大學(xué);2008年

7 孫開珊;多軸空間輪廓誤差的建模與交叉耦合補(bǔ)償[D];華中科技大學(xué);2007年

8 張建國;基于滑模變結(jié)構(gòu)控制的多軸協(xié)調(diào)運(yùn)動(dòng)控制策略研究[D];山東大學(xué);2007年

，

本文編號(hào)：1856067