基于模糊控制的弧焊机器人焊缝跟踪技术研究

发布时间：2018-06-24 01:48

本文选题：弧焊机器人 + 焊缝跟踪　；参考：《沈阳理工大学》2014年硕士论文

【摘要】：目前国内工业中所应用的弧焊机器人基本上都是进口的，价格贵且成本高，因此为了在国内推进弧焊机器人产业化发展，降低企业成本，开发具有自主知识产权的弧焊机器人迫在眉睫。实现焊缝跟踪是焊接自动化的重要前提和质量保证，在焊接机器人运动控制系统的研究背景下，主要对基于电弧传感的弧焊机器人焊缝跟踪技术及实现进行研究。通过对电弧传感器原理的研究，针对V型坡口焊缝，分析了本课题中所用的摆动式电弧传感器模型。以焊接电流作为传感输入信号，采用左右区域积分差值法，提取出焊枪偏离焊缝的横向位置偏差。文中重点研究了模糊控制方法在焊缝跟踪过程中的应用，并最终建立了模糊控制查询表。建立了MATLAB Simulink仿真模型，仿真结果表明系统具有较好的鲁棒性和适应性。在常规模糊控制器的研究基础上，提出了一种改进模糊控制方案。选择LPC3250芯片作为系统的微处理器芯片，设计了其部分外围接口电路。在焊接跟踪过程中，通过LPC3250完成焊缝跟踪的查表工作，最终实现焊接时焊缝的精确跟踪。查表法响应速度快，资源投入小，虽然控制精度相对较低，但完全能满足一般控制的要求。对常见的对接和角接直线焊缝进行了焊接跟踪实验。实验结果表明，，运用所设计的模糊控制算法，焊缝跟踪的精度能够达到±l mm以内，满足焊接质量要求，焊缝跟踪系统具有低成本、小型化、功耗小的特点。
[Abstract]:At present, the arc welding robot used in domestic industry is basically imported, and the price is expensive and the cost is high. So it is imminent to promote the development of the arc welding robot industrialization, reduce the cost of the enterprise and develop the arc welding robot with independent intellectual property right. It is an important prerequisite and quality assurance of welding automation to realize the seam tracking. Under the background of welding robot motion control system, the seam tracking technology and Realization of arc welding robot based on arc sensing are mainly studied.
Through the study of the principle of the arc sensor, the wobble arc sensor model used in the V type groove weld is analyzed. The welding current is used as the sensing input signal and the left and right area integral difference method is used to extract the lateral deviation of the welding gun's deviation from the weld seam. The paper focuses on the study of the fuzzy control method in the weld heel. A fuzzy control query table is established and the MATLAB Simulink simulation model is set up. The simulation results show that the system has good robustness and adaptability. On the basis of the research of conventional fuzzy controller, an improved fuzzy control scheme is proposed. LPC3250 chip is selected as the microprocessor chip of the system. In the course of welding tracking, the lookup table work of welding seam tracking is completed in the process of welding tracking, and the weld seam is tracked accurately in the welding process. The response speed is fast, the resource input is small and the control precision is relatively low, but it can fully meet the requirements of general control in the process of welding.
The welding tracking experiment of the common butt and angle line welds is carried out. The experimental results show that the precision of the welding seam tracking can reach within + L mm with the fuzzy control algorithm designed, which meets the requirements of welding quality, and the seam tracking system has the characteristics of low cost, small size and small work energy consumption.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242;TG409

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