摘要
针对目前全自动化大型自动焊接系统结构复杂、投资周期长以及小型焊接系统精准度不高的问题,构建了一套基于雷塞控制器的焊接自动跟踪系统,集器件选型及优化控制于一体。为确保焊接自动跟踪系统的准确性和经济性,在雷塞控制系统上直接采用差分法排除分离群点。采用分段叠加、遴选有效点、局部最小二乘法拟合扫描线等方法对激光位置传感器获得的焊缝扫描线进行优化,获得与真实工件外廓线完全匹配的曲线。以焊接真实U型工件为例,通过上述优化算法,分段找出分离群点,构建局部最小二乘法曲线获得工件数据;为确保有效衔接,下一轮扫描与上一轮扫描有冗余度,并实行分段叠加,实现了对焊枪位置的正确引导。实测结果验证了该系统及优化算法的正确性及可行性。
Owing to the complicated structure and long investment cycle for large automatic welding system and the low accuracy for small automatic welding system,the automatic welding tracking system with LeadShine controller is proposed with the device selection and the design of optimize control.To ensure accuracy and economy,the difference method is used to eliminate outliers.The section superposition method is used to select the effective point.The local least squares method is used to fit the scanning line.And,above methods are used to optimize weld scanning line by using laser position sensitive detector,then the curve is fit with the outer profile of real workpiece.Taking the U-shaped welding workpiece as an example,with these methods,the sectional outliers are found.The workpiece profile data is obtained from the section superposition method.To promote the effective connection,the redundancy between this round of scanning and next round of scanning is made through partition-and-accumulate method,so the correct guidance of the welding torch’s position is made.The system design and optimization algorithm are correct and feasible with the experimental results.
作者
张晓芳
Zhang Xiaofang(Department of Electrical Engineering,Chien-Shiung Institute of Technology,Taicang 215411,China)
出处
《自动化仪表》
CAS
2020年第10期51-54,60,共5页
Process Automation Instrumentation
基金
2018年江苏高校哲学社会科学研究基金资助项目(2018SJA1466)
2020年江苏高校“青蓝工程”优秀青年骨干教师培养对象基金资助项目、第四届太仓市高校专业建设领军人才基金资助项目。
关键词
雷塞控制器
基恩士激光位置传感器
差分法
分段叠加
最小二乘法
Lead Shine controller
Keyence laser position sensitive detector
Difference method
Section superposition
Least square method
