CN102773582A - Submersible type digital underwater wet process welding power source and application thereof - Google Patents
Submersible type digital underwater wet process welding power source and application thereof Download PDFInfo
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- CN102773582A CN102773582A CN2012102897686A CN201210289768A CN102773582A CN 102773582 A CN102773582 A CN 102773582A CN 2012102897686 A CN2012102897686 A CN 2012102897686A CN 201210289768 A CN201210289768 A CN 201210289768A CN 102773582 A CN102773582 A CN 102773582A
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- 238000007789 sealing Methods 0.000 claims abstract description 10
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- 229910001209 Low-carbon steel Inorganic materials 0.000 description 2
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Abstract
The invention relates to welding equipment and particularly relates to a submersible type digital underwater wet process welding power source which has the advantages of water pressure resistance and good sealing property, can stably output in an underwater 200m condition and can be used for controlling a welding process based on a DSP (Digital Signal Processor). The submersible type digital underwater wet process welding power source comprises a shell and a welding machine main circuit located in the shell. The submersible type digital underwater wet process welding power source is characterized in that a flange and a flange end cover are arranged at both ends of the shell, wherein the flange is connected with the shell in an overlap-jointing and butt-welding manner; the flange end cover and the flange are sealed by adopting a polytetrafluoroethylene flange cushion with thickness being 3mm; and an air valve, a power input cable interface, a control cable interface and a power supply output interface are further arranged on the shell. The submersible type digital underwater wet process welding power source provided by the invention has the obvious advantages of water pressure resistance, good sealing property and the like, and can stably output power in the underwater 200m condition.
Description
Technical field
The present invention relates to a kind of welding equipment, specifically a kind of water pressure resistance, good seal performance, the stable down output of 200m environment and realize the submersible type digitlization wet method source of welding current and application thereof under water under water to Control Welding Process based on DSP.
Background technology
Along with Development of Welding Technology, underwater welding technology has become current much-talked-about topic.Large ship is repaired, and submarine pipeline connection etc. all must be adopted underwater welding technology.Underwater environment makes the under-water welding termination process much more complicated than land welding process, except that solder technology, also relates to many factors such as diving operation technology.Though the welding quality that underwater welding technology such as employing local dry cavity can obtain expecting, operating environment etc. receive certain restriction.Wet method welding is under water compared with dry method and local dry cavity welding, is widely used; But security is the poorest, when welding in the seawater, if seawater gets in the power system of welding equipment, not only causes Danger Electric shock risk, also can damage welding equipment, and therefore sealing becomes a safety problem of wet method welding equipment.During wet method welding under water, employed equipment receives the corrosion of seawater easily, on material is selected, will consider the seawater corrosion resistance problem.And at the deep water place wet method when welding because the immense pressure that seawater produced, welding equipment also will have certain anti-pressure ability.
Major part is the wet method welding system under water, and its source of welding current and control system be in the land, wire-feed motor under water, this system is suitable for welding under the more shallow situation of the depth of water.And for the depth of water when dark, this system has lost feasibility, and this is mainly determined by the characteristic of welding arc and power supply internal components withstand voltage.Welding arc is the gas discharge phenomenon of a kind of low-voltage, big electric current, when the depth of water is dark, if the source of welding current is in the land; Electrode holder line and ground wire also can be very long; Resistance is very big, because this specific character of electric arc has very big pressure drop on electrode holder line and ground wire; Thereby cause source of welding current output end voltage sharply to reduce, can't accomplish the under-water welding termination process.How to reduce the long problem of pressure drop of bringing of output cable, guarantee that the reliable output of the source of welding current just becomes the key issue that solves the deep water welding.Simultaneously; Along with China to marine energy (morning and evening tides, wave, ocean current; The temperature difference) exploitation scale is increasing; This also welds for the deep-sea under water provides power source, the instant welding under water of following instant generating just to become the effective way that reduction construction under water and rehabilitation cost, raising big flood deep welding connect and repaired feasibility.For reaching the purpose of above-mentioned deep water welding, the present invention researched and developed can be positioned under water based on the submersible type digitlization of the DSP control wet method source of welding current under water.
Summary of the invention
The present invention is directed to the shortcoming and defect that prior art exists, propose a kind of water pressure resistance, good seal performance, stablize output and realize the submersible type digitlization wet method source of welding current and application thereof under water under the 200m environment under water Control Welding Process based on DSP.
The present invention can reach through following measure:
A kind of submersible type digitlization is the wet method source of welding current under water; The main circuit of the welding machine that comprises housing and be positioned at housing; The two ends that it is characterized in that said housing are provided with flange and flange end cap, and wherein flange adopts the overlap joint butt welding to be connected with housing, and flange end cap and flange adopt the polytetrafluoroethylene (PTFE) flange gasket sealing of thickness 3mm; Power input cable interface, control cable interface, power output interface that housing is provided with air valve and is connected with main circuit of the welding machine respectively; Be filled with inert gas in the housing, when in the scope of degree of depth h at 0m-100m, housing internal gas pressure value P
0=0.2MP, when degree of depth h＞100m, P
0=0.2+0.01h; The watertight connector that power input cable interface on the housing, control cable interface all adopt plug-in type; This watertight connector mainly comprises plug base, O RunddichtringO, plug body and stuffing-box; Wherein the flange end that is welded on the housing of plug base covers, and plug body and plug base adopt screw thread to add O type circle and be tightly connected, and cable seals with plug body employing stuffing-box; The housing inboard is provided with the coil pipe that is used for heat circulation, and housing is provided with respectively water-cooled input port and the water-cooled delivery outlet that is connected with output with the input of coil pipe.
The watertight connector that power input cable interface on the middle shell of the present invention, control cable interface all adopt plug-in type; This watertight connector mainly comprises plug base, O RunddichtringO, plug body and stuffing-box; Wherein the flange end that is welded on the housing of plug base covers; Plug body and plug base adopt screw thread to add O type circle and are tightly connected; Cable and plug body adopt stuffing-box to seal, and promptly rely on the hold down gag extruding filler in the stuffing-box, and the plastic deformation that produces through cable and filler reaches sealing effectiveness; Housing of the present invention inboard is provided with the coil pipe that is used for the heat circulation; Can adopt the well behaved copper pipe of exchange heat to realize during use, housing is provided with respectively water-cooled input port and the water-cooled delivery outlet that is connected with output with the input of coil pipe, can be through carrying out the stability that exchange heat (water circulation) guarantees that power supply self is worked with the outer water environment.
The main circuit of the welding machine that is positioned at housing among the present invention comprises and is used for the power circuit of supplying power to whole welding system and is used for the control circuit according to underwater environment Based Intelligent Control power circuit output parameter; Wherein control circuit is realized based on the DSP control chip, optimal control unit, the water-depth measurement sensor of the output current voltage waveform of comprise DSP control chip and the parameter storage unit that is connected with the DSP control chip respectively, the voltage sensor that is connected with power circuit, the current sensor that is connected with power circuit, being made up of multichannel DA unit and multichannel driver element; Power circuit is made up of the rectification circuit, inverter circuit, transforming circuit, the secondary rectification circuit that link to each other successively; Outside electrical source of power is after the input of power input cable interface; Get into power circuit, after the secondary rectification, export again through over commutation processing, inversion processing, transformation successively.
Can also be provided with the wire-feed motor driver element in the control circuit in the main circuit of the welding machine of the present invention, the wire-feed motor driver element is connected with the DSP control chip, thereby when adopting the flux-cored wire welding, can cooperate semi-automatic wire-feed motor to use.
Control circuit in the main circuit of the welding machine of the present invention can also be provided with control and display unit under water; This unit can adopt display unit such as input unit such as supervisory keyboard and liquid crystal display/charactron to realize; Be used to the running parameter, the duty that make things convenient for the user to know device, and regulate according to the difference of site operation environment.
The present invention also is provided with the Ground Control box, and the prior embedded embedded OS of control chip in the Ground Control box can be through communication cable and control system communication under water; Obtain welding parameter under water in real time, and preserve, simultaneously the operational diagnostics system; But the control circuit in the main circuit of the welding machine in these data of real-time analysis data or ex-post analysis, Ground Control box and housing is connected, and the Ground Control box is positioned at outside the construction waters in use; For example on the deck; Can realize to the adjusting of this device current/voltage, demonstration and power supply startup, the external control of duty such as stop, therefore, correspondence is provided with communication interface in the control circuit in the main circuit of the welding machine; Communication interface is connected with the DSP control chip, is used to realize and outside exchanges data.
The present invention also propose the above-mentioned submersible type digitlization of a kind of application under water the wet method source of welding current realize under water the stable down output weldingvoltage of 200m environment method of current; When it is characterized in that welding beginning according to the hydraulic pressure of the construction environment degree of depth of living in; In the housing of the source of welding current, charge into inert gas; Come balance shell inside and outside pressure; The source of welding current is positioned at the bottom in welding process, according to the data of water-depth measurement sensor acquisition, realize the optimization to the voltage current waveform of welding process output through the DSP control chip.
According to the invention optimization to the voltage current waveform of welding process output is meant that the output floating voltage of this power supply can change with the depth of water along with the increase of the welding depth of water, floating voltage U is following with the Changing Pattern of depth of water h: when 0m≤h＜50m, and U=75V; When 50m≤h≤100m, U=85V; When 100m≤h＜150m, U=95V; When 150m≤h≤200m, U=100V; To adapt to the requirement of wet method welding stability under water; On this basis can be according to the depth of water in DSP control chip set inside welding parameter group; Thereby the welding parameter of wet method under water that realizes the different depth of waters is effectively selected, and the system of combined ground control simultaneously is according to the actual needs that welds under water; Revise parameter group, reach the purpose of flexible control.
The present invention mainly divides three parts, starting the arc process, welding process, receipts arc process owing to weld in use; Arcing voltage also is that floating voltage increases with the depth of water in the starting the arc process; The main in use mode through tabling look-up of the present invention is at interval with 20cm, stores the depth of water is corresponding with arcing voltage; During actual welding, directly call this parameter; Linear transitions curve, exponential curve, logarithmic curve and four kinds of functions of revisable optional intermediate curve have been stored in transition between the starting the arc and the welding, select according to different welding work pieces; In welding process, characteristic of welding power source is a constant voltage, adopts here and improves pid algorithm; Control the stability of voltage; Wherein: supposition Error (n) representes the poor of current sampling numerical value and set-point, and the consequent difference of single order is (1) formula, representes the difference between adjacent twice deviation:
▽Error（n）=Error（n）-Error（n-1） (1)
When the absolute value of Error (n) during greater than certain set-point, think that error is very big, controller output is maximum, and reverse control reduces error the soonest;
When the absolute value of Error (n) during less than certain set-point, think that error is very little, reduce steady-state error through integral element and get final product;
When Error (n) greater than zero, ▽ Error (n) also greater than zero (perhaps both are all less than zero) then specification error show the method DeGrain that reduces error originally increasing, should take stronger control method;
When Error (n) greater than zero; (perhaps the former is less than zero less than zero for ▽ Error (n); The latter is greater than zero) then specification error reducing; Explain that control method is effective; Can revise the control parameter according to
rate of change, guarantee the stable of output voltage; It is similar with starting the arc process to receive the arc process, has stored linear transitions curve, exponential curve, four kinds of patterns of logarithmic curve and optional intermediate curve equally and has supplied different welding work pieces selections.
Through also being the optimization of floating voltage to arcing voltage, can improve the reliability of the starting the arc among the present invention, when in the welding process current interruption taking place, the starting the arc effectively guarantees normally carrying out of welding job once more rapidly simultaneously.
Housing described in the present invention can select for use ordinary low-carbon steel, low-alloy steel, stainless steel or titanium alloy to process; Be used to reach sealing height, target that anti-pressure ability is good; Power circuit in the housing is made up of input rectifying filtering, IGBT inverter, transformer and output rectifying and wave-filtering; And pass through the DSP control chip and realize that to the optimal control of output current voltage waveform and the control of welding process the source of welding current can pass through the communication of the realization of DSP control chip and peripheral control unit such as Ground Control box, and then can be according to the setting in advance of different depth of water realization welding machine output voltages; Make the source of welding current can improve the output floating voltage along with the increase of the depth of water; Improve the stability of welding and the reliability of striking, reduce the time of exploring welding conditions, improve welding efficiency.
Description of drawings:
Accompanying drawing 1 is a structural representation of the present invention.
Accompanying drawing 2 is structural representations of watertight connector among the present invention.
Accompanying drawing 3 is theory diagrams of main circuit of the welding machine among the present invention.
Accompanying drawing 4 is left views of middle shell of the present invention.
Reference numeral: housing 1; Flange 2; Flange end cap 3; Power input cable interface 4; Control cable interface 5; Power output interface 6; Water-cooled input port 7; Water-cooled delivery outlet 8; Ground Control box 9; Air valve 10; Plug base 11; O RunddichtringO 12; Plug body 13; Stuffing-box 14; DSP control chip 15; Parameter storage unit 16; Voltage sensor 17; Current sensor 18; Multichannel DA unit 19; Multichannel driver element 20; Optimal control unit 21; Water-depth measurement sensor 22; Rectification circuit 23; Inverter circuit 23; Transforming circuit 25; Secondary rectification circuit 26; Wire-feed motor driver element 27; Control and display unit 28 under water; Communication interface 29.
The specific embodiment:
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
The present invention proposes a kind of submersible type digitlization wet method source of welding current under water, shown in accompanying drawing 1, comprise housing 1 and the main circuit of the welding machine that is positioned at housing 1; The two ends that it is characterized in that said housing 1 are provided with flange 2 and flange end cap 3; Wherein flange 2 adopts the overlap joint butt welding to be connected with housing 1, and flange end cap 3 adopts the polytetrafluoroethylene (PTFE) flange gasket of thickness 3mm to seal with flange 2, also is provided with air valve 10 and power input cable interface 4, control cable interface 5 and two power output interfaces 6 on the housing 1; When reality is used; Two power output interfaces 6 are positioned on the flange end cap 3 of housing 1 one sides, and power input cable interface 4, control cable interface 5 and other interface all are positioned on the flange end cap 3 of housing 1 other end, and flange 2 and flange end cap 3 peripheries that the present invention adopted are uniformly distributed with 20 bolts hole; The two closely connects; Effectively improve the sealing of housing 1, its medium power input cable interface 4, control cable interface 5 all adopt the watertight connector of plug-in type, shown in accompanying drawing 2; This watertight connector mainly comprises plug base 11, O RunddichtringO 12, plug body 13 and stuffing-box 14; Wherein plug base 11 is welded on the flange end cap 3 on the housing 1, and plug body 13 adopts screw thread to add O type circle 12 with plug base 11 and is tightly connected, and cable and plug body 13 adopt stuffing-box 14 to seal; Promptly rely on the hold down gag extruding filler in the stuffing-box 14, the plastic deformation that produces through cable and filler reaches sealing effectiveness.
Shown in accompanying drawing 3; The main circuit of the welding machine that is positioned at housing 1 among the present invention comprises and is used for the power circuit of supplying power to whole welding system and is used for the control circuit according to underwater environment Based Intelligent Control power circuit output parameter; Wherein control circuit is realized based on the DSP control chip, optimal control unit 21, the water-depth measurement sensor 22 of the output current voltage waveform of comprise DSP control chip 15 and the parameter storage unit 16 that is connected with DSP control chip 15 respectively, the voltage sensor 17 that is connected with power circuit, the current sensor 18 that is connected with power circuit, being made up of multichannel DA unit 19 and multichannel driver element 20; Power circuit is made up of the rectification circuit 23, inverter circuit 23, transforming circuit 25, the secondary rectification circuit 26 that link to each other successively; Outside electrical source of power is after the input of power input cable interface; Get into power circuit, after the secondary rectification, export again through over commutation processing, inversion processing, transformation successively.
Can also be provided with wire-feed motor driver element 27 in the control circuit in the main circuit of the welding machine of the present invention, wire-feed motor driver element 27 is connected with DSP control chip 15, thereby when adopting the flux-cored wire welding, can cooperate semi-automatic wire-feed motor to use.
Control circuit in the main circuit of the welding machine of the present invention can also be provided with control under water and the display unit 28 that is connected with DSP control chip 15; This unit can adopt display unit such as input unit such as supervisory keyboard and liquid crystal display/charactron to realize; Be used to the running parameter, the duty that make things convenient for the user to know device, and regulate according to the difference of site operation environment.
Housing of the present invention 1 inboard is provided with the coil pipe that is used for the heat circulation; Housing 1 is provided with respectively the water-cooled input port 7 and water-cooled delivery outlet 8 that is connected with output with the input of coil pipe, can be through carrying out the stability that exchange heat (water circulation) guarantees that power supply self is worked with the outer water environment.
The present invention also is provided with Ground Control box 9, and the control circuit in the main circuit of the welding machine in Ground Control box 9 and the housing 1 is connected, and the Ground Control box is positioned at outside the construction waters in use; For example on the deck; Can realize to the adjusting of this device current/voltage, demonstration and power supply startup, the external control of duty such as stop, therefore, correspondence is provided with communication interface 29 in the control circuit in the main circuit of the welding machine; Communication interface is connected with DSP control chip 15, is used to realize and outside exchanges data.
When the present invention uses; Construction environment is in the depth of water 60m, and power supply can be placed on land, is welded under water by the diving welder; After the depth of water surpasses 60m; The diving power supply can be placed under water, through power input cable the source of welding current is carried out the power input, can realize the under-water welding termination process of the maximum 200m depth of water.Before welding under water; Air valve through being placed on the housing 1 carries out pressure test to equipment, and its pressure inside is remained on the pressure of corresponding water environment after the dive, with the pressure of balance housing 1 with the construction external environment; Guarantee the stability of housing 1; Adopt the form of lifting that the source of welding current is delivered to corresponding construction location afterwards, the welding beginning, the power circuit in the source of welding current is under the control of control circuit; Convert the high-tension electricity of the three-phase 380v of outside input into welding required power supply, and be the welder power supply through two power output interfaces of housing one end; When adopting SMAW to weld under water, the both positive and negative polarity that two power output interfaces 6 on the welding power supply casing 1 can directly be used to weld welds; When adopting the flux-cored wire welding, the semi-automatic machine of solder wire convey under water connects the positive negative output (being power output interface 6) except that needing, and the control socket that also need connect power supply is promptly controlled cable interface 5, to realize the co-ordination of the source of welding current and wire-feed motor; The water-cooling system that the present invention is equipped with promptly is installed in the inboard coil pipe of housing, can through with the cooperating of device such as extraneous circulating pump, realize that exchange heat (water circulation) guarantees the stability that power supply self is worked; Ground Control box 9 can be realized with wired or wireless mode communicating by letter with the DSP control chip 15 in housing 1 inner control circuit; And then completion exchanges data; Also be that data and the relevant information of other device duties that current sensor, voltage sensor, water-depth measurement sensor in the welding power supply casing 1 are gathered can be seen the water surface off; The outer Ground Control box 9 of the water surface can be according to the above-mentioned information that receives to diving source of welding current sending controling instruction; This instruction receives post analysis by the DSP control chip in the welding power supply casing 1 15 and handles and make corresponding execution action, so realize current/voltage adjusting, demonstration and the power supply of the source of welding current startup, stop all can to realize by 9 controls of the Ground Control box on the deck.
Housing described in the present invention 1 can select for use ordinary low-carbon steel, low-alloy steel, stainless steel or titanium alloy to process; Specifically can adopt internal diameter 400mm-600mm; Wall thickness 15-25mm, the seamless steel pipe of length 600-900mm or titanium alloy tube are used to reach sealing height, target that anti-pressure ability is good; Power circuit in the housing 1 is made up of input rectifying filter circuit, IGBT inverter, transformer and output rectifier and filter; And pass through DSP control chip 15 and realize that to the optimal control of output current voltage waveform and the control of welding process the source of welding current can pass through the communication of 15 realizations of DSP control chip and peripheral control unit such as Ground Control box 9, and then can realize the setting in advance of welding machine output voltage according to the different depth of water; Make the source of welding current can improve the output floating voltage along with the increase of the depth of water; Improve the stability of welding and the reliability of striking, reduce the time of exploring welding conditions, improve welding efficiency.
The present invention is based on the welding main circuit of DSP; Mainly realize pulsewidth modulation, thermostatic control and waveform optimization to power supply by the DSP control chip; Realization is to the real-time output and the adjustment of weldingvoltage and welding current under water, is meant based on the variation of the welding depth of water as the welding expert system of important parameter with the depth of water output floating voltage of the source of welding current is effectively adjusted, thereby can improve the striking reliability and the arc stability of wet method welding under water; This submersed type power unit maximum output current 500A; Output voltage 10V ~ 50V, floating voltage 50-110V is adjustable, and the input and output employing stuffing-box of cable etc. seals; The water-cooling system that can carry out exchange heat with the outer water environment is adopted in the cooling of power supply; Both can carry out the welding of underwater electrode arc welding, and can carry underwater robot again and carry out full-automation and weld under water, have high, the 200m environment significant advantage such as stable output down under water of water pressure resistance, good seal performance, reliability.
Claims (8)
1. the submersible type digitlization wet method source of welding current under water; The main circuit of the welding machine that comprises housing and be positioned at housing; The two ends that it is characterized in that said housing are provided with flange and flange end cap, and wherein flange adopts the overlap joint butt welding to be connected with housing, and flange end cap and flange adopt the polytetrafluoroethylene (PTFE) flange gasket sealing of thickness 3mm; Power input cable interface, control cable interface, power output interface that housing is provided with air valve and is connected with main circuit of the welding machine respectively; Be filled with inert gas in the housing, when in the scope of degree of depth h at 0m-100m, housing internal gas pressure value P
0=0.2MP, when degree of depth h＞100m, P
0=0.2+0.01h; The watertight connector that power input cable interface on the housing, control cable interface all adopt plug-in type; This watertight connector mainly comprises plug base, O RunddichtringO, plug body and stuffing-box; Wherein the flange end that is welded on the housing of plug base covers, and plug body and plug base adopt screw thread to add O type circle and be tightly connected, and cable seals with plug body employing stuffing-box; The housing inboard is provided with the coil pipe that is used for heat circulation, and housing is provided with respectively water-cooled input port and the water-cooled delivery outlet that is connected with output with the input of coil pipe.
2. a kind of submersible type digitlization according to claim 1 is the wet method source of welding current under water; The main circuit of the welding machine that it is characterized in that being positioned at housing comprises and is used for to the power circuit of whole welding system power supply and is used for the control circuit according to underwater environment Based Intelligent Control power circuit output parameter; Wherein control circuit is realized based on the DSP control chip, optimal control unit, the water-depth measurement sensor of the output current voltage waveform of comprise DSP control chip and the parameter storage unit that is connected with the DSP control chip respectively, the voltage sensor that is connected with power circuit, the current sensor that is connected with power circuit, being made up of multichannel DA unit and multichannel driver element; Power circuit is made up of the rectification circuit, inverter circuit, transforming circuit, the secondary rectification circuit that link to each other successively.
3. a kind of submersible type digitlization according to claim 2 is the wet method source of welding current under water, it is characterized in that also being provided with in the control circuit in the main circuit of the welding machine wire-feed motor driver element, and the wire-feed motor driver element is connected with the DSP control chip.
4. a kind of submersible type digitlization according to claim 2 is the wet method source of welding current under water, it is characterized in that the control circuit in the main circuit of the welding machine also is provided with control under water and the display unit that is connected with the DSP control chip.
5. a kind of submersible type digitlization according to claim 3 is the wet method source of welding current under water, it is characterized in that also being provided with the Ground Control box, and the control circuit in the main circuit of the welding machine in Ground Control box and the housing is connected through cable.
6. a kind of submersible type digitlization according to claim 2 is the wet method source of welding current under water, it is characterized in that housing adopts internal diameter 400mm-600mm, wall thickness 15-25mm, the seamless steel pipe of length 600-900mm or titanium alloy tube.
An application rights require in 1 to 6 any described submersible type digitlization under water the wet method source of welding current realize the stable down output weldingvoltage of 200m environment method of current under water; When it is characterized in that welding beginning according to the hydraulic pressure of the construction environment degree of depth of living in; In the housing of the source of welding current, charge into inert gas, come balance shell inside and outside pressure, the source of welding current is positioned at the bottom in welding process; Data according to the water-depth measurement sensor acquisition; Realize optimization through the DSP control chip, wherein, be meant increase along with welding depth of water h to the optimization of the voltage current waveform of welding process output to the voltage current waveform of welding process output; The output floating voltage U of this power supply has following Changing Pattern: when 0m≤h＜50m, and U=75V; When 50m≤h≤100m, U=85V; When 100m≤h＜150m, U=95V; When 150m≤h≤200m, U=100V.
8. a kind of realization according to claim 7 is the stable down output weldingvoltage of 200m environment method of current under water; It is characterized in that in welding process, adopting and improve the stability that pid algorithm is controlled output voltage; Wherein: supposition Error (n) representes the poor of current sampling numerical value and set-point; The consequent difference of single order is (1) formula, representes the difference between adjacent twice deviation
▽Error（n）=Error（n）-Error（n-1） (1)
When the absolute value of Error (n) during greater than certain set-point, think that error is very big, controller output is maximum, and reverse control reduces error the soonest;
When the absolute value of Error (n) during less than certain set-point, think that error is very little, reduce steady-state error through integral element and get final product;
When Error (n) greater than zero, ▽ Error (n) also greater than zero or both all less than zero specification error increasing, show the method DeGrain that reduces error originally, should take stronger control method;
When Error (n) greater than zero, ▽ Error (n) less than zero or the former less than zero, the latter is greater than zero, then specification error is reducing, and explain that control method is effective, revises the control parameter according to ▽ Error (n) rate of change, guarantees stablizing of output voltage.
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| CN103706924A (en) * | 2013-12-20 | 2014-04-09 | 华南理工大学 | Diving wire feeder of intelligent arc welding robot |
| CN109681163A (en) * | 2018-05-23 | 2019-04-26 | 中国石油化工股份有限公司 | A kind of water injection well Retrievable underground power generator and method |
| CN111175560A (en) * | 2019-12-25 | 2020-05-19 | 杭州新世宝电动转向系统有限公司 | Method for quickly adjusting welding voltage of Hall torque sensor magnetic ring in EPS (electric power steering) |
| WO2022253317A1 (en) * | 2021-06-03 | 2022-12-08 | 江苏科技大学 | Split-type multifunctional underwater arc welding power supply and working method thereof |
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| CN111175560A (en) * | 2019-12-25 | 2020-05-19 | 杭州新世宝电动转向系统有限公司 | Method for quickly adjusting welding voltage of Hall torque sensor magnetic ring in EPS (electric power steering) |
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| US12097577B2 (en) | 2021-06-03 | 2024-09-24 | Jiangsu University Of Science And Technology | Split-type multifunctional underwater arc welding power supply and operating method thereof |
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| CN102773582B (en) | 2016-06-29 |
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