CN105149834A - Motion control method for large component plane curve track welding - Google Patents

Abstract

The invention provides a motion control method for large component plane curve track welding and belongs to the field of welding automation. According to the method, a welding torch rotating mechanism is adopted for adjusting the pose of a welding torch in the welding process and a two-dimensional horizontally-moving mechanism is used for adjusting the position of the welding torch; according to the relative pose relation of the welding torch, a workpiece to be welded and a world coordinate system, welding energy input parameters are adjusted in real time; the requirements that the welding speed, the inclination angle of the welding torch and the distance between the tail end of the welding torch and a point to be welded can be preset before welding in the welding process of any plane curve track weld joint and are kept constant in the welding process are met; and the stability of the welding process and the uniformity of product quality are guaranteed. The system structure is simple, the cost is low, and the method is suitable for various welding occasions of arc welding, arc welding, friction stir welding and the like for any plane curve track weld joint.

Description

A kind of motion control method for large-scale component plane curve Antiinterference

Technical field

The invention belongs to Automation of Welding field, particularly a kind of motion control method for large-scale component plane curve Antiinterference.

Background technology

Large-scale component plane curve Antiinterference is often existing in the equipment Manufacture Process of space flight and aviation, shipbuilding, field of petrochemical industry.For obtaining good welding quality, be often required to meet following some targets: one, speed of welding can be preset before weldering, and keeps constant in welding process; Its two, in welding process, treat that the distance of solder joint and torch tip point keeps constant, and predeterminable before weldering, in arc welding, show as Arc Length Constant, in Laser Welding, show as defocusing amount constant, in friction stir welding, show as stirring-head insertion depth constant; They are three years old, in welding process torch axis with treat the default inclination angle that solder joint normal direction can keep constant, as torch axis often need be kept in arc welding perpendicular to surface of the work, often need keep in friction stir welding the shaft shoulder and surface of the work angled to apply certain upsetting force; Its four, consider and the accurate Continuous Drive problem that equipment self-weight causes toward not allowing workpiece to move in welding process, welding torch can only be allowed along orbiting motion to be welded.At present, plane curve Antiinterference adopts human weld's mode mostly, is difficult to the stability and the uniformity that ensure weldquality.

Chinese patent " a kind of robot control method along arbitrary curve Antiinterference in the facade " (patent No.: 201210488690.0) propose a kind of three-shaft linkage device for the welding of planar curve and control method, track to be welded uses the some discrete points on track to characterize, in welding process, circular interpolation is carried out to the discrete point on track, welding process is met speed of welding is constant, torch tip and surface of the work apart from constant, remain some targets such as downhand position.But this technology cannot be applicable to require that welding torch exists the occasion of certain top rake or back rake angle, as the friction stir welding process entails shaft shoulder and surface of the work form an angle to apply certain upsetting force to weld seam; In addition, workpiece needs real-time speed-changing rotation in the method, requires high in the accurate Continuous Drive of large-scale component welding occasion to equipment.

To sum up, not yet have at present and meet speed of welding, treat that the parameters such as solder joint and torch tip point distance, welding torch inclination angle regulate and keep motion control method that is constant, that weld for large-scale component arbitrary plane curvilinear path in welding process before all can welding.

Summary of the invention

The object of the invention is the weak point for prior art, a kind of motion control method for large-scale component plane curve Antiinterference is proposed, the method is intended to solve that current technology exists cannot meet speed of welding, arc length/defocusing amount/stirring-head insertion depth, the all predeterminable and welding process such as welding torch inclination angle keeps the problem such as constant, in the hope of meeting speed of welding, treat solder joint and torch tip point distance, the parameters such as welding torch inclination angle regulate before all can welding and keep the technical requirement such as constant in welding process, and according to welding torch in welding process, the relative pose relation of workpiece to be welded and world coordinate system adjusts welding energy input parameter in real time, keep the stability of welding process and the uniformity of product quality.

Technical scheme of the present invention is as follows:

For a motion control method for large-scale component plane curve Antiinterference, it is characterized in that, the device that the method adopts comprises base, motion controller, welding energy source, welding torch, two-dimension translational mechanism and welding torch rotating mechanism; Described base and described two-dimension translational mechanism are mechanically connected; Described motion controller is connected by wire with described welding torch rotating mechanism with described two-dimension translational mechanism respectively, or by wireless transmission method communication; Described welding torch is connected by wire with described welding energy source, or is connected by light path; Described two-dimension translational mechanism comprises the first one dimension translation mechanism and the second one dimension translation mechanism; The direction of motion of described first one dimension translation mechanism and described second one dimension translation mechanism is mutually orthogonal; Described welding torch rotating mechanism is arranged on the movement output end of described two-dimension translational mechanism; Described welding torch is arranged on the movement output end of described welding torch rotating mechanism; The rotating shaft direction of described welding torch rotating mechanism is mutually orthogonal with the direction of motion of described first one dimension translation mechanism and described second one dimension translation mechanism respectively; Trade union college to be welded is on described base; The axis direction of track to be welded and welding torch is positioned at same plane;

Said method comprising the steps of:

1) world coordinate system { W}, the described world coordinate system { x of W} with described base consolidation is set up _wo _wy _wplane and track place to be welded planes overlapping, x _wdirection of principal axis and y _wdirection of principal axis is parallel with the direction of motion of the second one dimension translation mechanism with described first one dimension translation mechanism respectively; Set up welding torch coordinate system { P}, described welding torch coordinate system { the initial point O of P} with described welding torch consolidation _poverlap with described torch tip point, y _paxle overlaps with described torch axis, x _po _py _pplane and track place to be welded planes overlapping; Welding torch coordinate system { the x of P} described in initial time _pdirection of principal axis and y _pdirection of principal axis respectively with the described world coordinate system { x of W} _wdirection of principal axis and y _wdirection of principal axis is parallel to each other;

2) on described track to be welded, choose N number of discrete point from starting point to the end, measure and obtain N number of discrete point at described world coordinate system { the abscissa x in W} _iwith ordinate y _i, wherein N be more than or equal to 2 positive integer, i is the positive integer being less than or equal to N, x _iand y _ifor any real number; Make two-dimensional columns vector X _i=[x _i, y _i] ^t;

3) set the intersection point of described torch axis and track to be welded as treating solder joint; Before welding, preset speed of welding C, torch tip point and treat the directed distance h between solder joint and welding torch inclination alpha, wherein C be not equal to arbitrarily zero real number, h, α are any real number;

4) to X _icarry out B-spline curves interpolation, make the SPL X of interpolation _wu () meets X _w(u _i)=X _i, wherein u is SPL X _wthe independent variable of (u), and:

$u_i=\left\{\begin{array}{cc}0,& i=1\\ \frac{\underset{k=1}{\overset{i-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|}{\underset{k=1}{\overset{N-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|},& 2\≤i\≤N\end{array}\right.$

5) adopt welding energy source to provide energy during welding to input, and make motion controller send control signal, drive described two-dimension translational mechanism and the Union Movement of described welding torch rotating mechanism;

If t is any nonnegative real number;

In t, motion controller drives described welding torch rotating mechanism to move, and the rotation angle θ (t) of described welding torch rotating mechanism is met:

$\left[\begin{array}{c}cos\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\\ sin\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\end{array}\right]=\frac{s_w\left(u\right(t))}{\left|\right|s_w\left(u\right(t)\left)\right||}$

In formula, u (t) is determined by following formula:

${\∫}_0^{u\left(t\right)}\[\left|\right|s_w\left(\mathrm{\ξ}\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(\mathrm{\ξ}\right)|{|}^2}\·n_w^T\left(\mathrm{\ξ}\right)\frac{{\mathrm{ds}}_w\left(\mathrm{\ξ}\right)}{d\mathrm{\ξ}}\]d\mathrm{\ξ}=C\·t$

In formula, ξ is integration variable, and function s _w(u) and n _wu () is determined by following formula:

$\left\{\begin{array}{c}{s}_w\left(u\right)=\frac{{\mathrm{dX}}_w\left(u\right)}{du}\\ n_w\left(u\right)=\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]s_w\left(u\right)\end{array}\right.$

In t, motion controller drives described welding torch rotating mechanism to move, and makes the instantaneous angular velocity of described welding torch rotating mechanism meet:

$\frac{d\mathrm{\θ}\left(t\right)}{dt}=\frac{1}{\left|\right|s_w\left(u\right(t)\left)\right|{|}^2}\·n_w^T\left(u\right(t\left)\right)\·\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}\·\frac{du\left(t\right)}{dt}$

In formula,

$\frac{du\left(t\right)}{dt}=\frac{C}{\left|\right|s_w\left(u\right(t\left)\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(u\right(t)\left)\right|{|}^2}\·n_w^T\left(u\right(t\left)\right)\·\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}}$

In t, if the pivot of described welding torch rotating mechanism is relative to described world coordinate system, { abscissa of W} is the displacement X of described first one dimension translation mechanism _rt (), relative to described world coordinate system, { ordinate of W} is the displacement Y of described second one dimension translation mechanism to the pivot of described welding torch rotating mechanism _r(t); In t, motion controller drives described first one dimension translation mechanism and described second one dimension translation mechanism Union Movement, makes the displacement X of described first one dimension translation mechanism _rthe displacement Y of (t) and described second one dimension translation mechanism _rt () meets:

$\left[\begin{array}{c}{X}_r\left(t\right)\\ Y_r\left(t\right)\end{array}\right]=X_w\left(u\right(t\left)\right)+\left[\begin{array}{cc}-\cos \[\mathrm{\θ}\left(t\right)\]& \sin \[\mathrm{\θ}\left(t\right)\]\\ -\sin \[\mathrm{\θ}\left(t\right)\]& -\cos \[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]$

In formula, r _xand r _ybe respectively the pivot of described welding torch rotating mechanism at welding torch coordinate system { abscissa in P} and ordinate;

In t, motion controller drives described first one dimension translation mechanism and described second one dimension translation mechanism Union Movement, makes the instantaneous velocity of described first one dimension translation mechanism with the instantaneous velocity of described second one dimension translation mechanism meet:

$\left[\begin{array}{c}\frac{{\mathrm{dX}}_r\left(t\right)}{dt}\\ \frac{{\mathrm{dY}}_r\left(t\right)}{dt}\end{array}\right]=s_w\left(u\right(t\left)\right)\frac{du\left(t\right)}{dt}+\left[\begin{array}{cc}\sin \[\mathrm{\θ}\left(t\right)\]& \cos \[\mathrm{\θ}\left(t\right)\]\\ -\cos \[\mathrm{\θ}\left(t\right)\]& \sin \[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]\frac{d\mathrm{\θ}\left(t\right)}{dt}$

According to described welding torch, workpiece to be welded and world coordinate system { the relative pose relation of W}, in real time the energy input parameter in the described welding energy source of adjustment;

For a motion control method for large-scale component plane curve Antiinterference, it is characterized in that: described welding energy source is electric arc welding power supply, Laser Welding thermal source or friction stir welding motion drive;

For a motion control method for large-scale component plane curve Antiinterference, it is characterized in that: the device that the method adopts also comprises wire feeder and wire feeder controller; Described wire feeder controller is connected with described wire feeder; Described wire feeder end is connected with described welding torch; Make wire feeder controller send control signal, control wire feeder and carry out wire feed in welding process;

For a motion control method for large-scale component plane curve Antiinterference, it is characterized in that: described motion controller is electric machine controller or hydraulic controller.

Compared with the prior art, the present invention can realize following target in welding process: speed of welding, welding torch inclination angle, torch tip point and treat that solder joint distance all can preset, and keeps constant in welding process; System architecture is simple, and cost is low, is suitable for the multiple welding occasions such as large-scale component arbitrary plane curvilinear path weld seam arc welding, Laser Welding, friction stir welding.

Accompanying drawing explanation

A kind of motion control method embodiment for large-scale component plane curve Antiinterference that Fig. 1 proposes for the present invention adopt the axonometric drawing of device.

Fig. 2 is the front view of Fig. 1 shown device.

Fig. 3 is the side view of Fig. 1 shown device.

Fig. 4 is the top view of Fig. 1 shown device.

Fig. 5 is a kind of establishment of coordinate system situation of the motion control method embodiment for large-scale component plane curve Antiinterference, the principle schematic of each parameter geometrical relationship that adopt Fig. 1 shown device.

Fig. 6 is the flow chart of a kind of motion control method embodiment for large-scale component plane curve Antiinterference adopting Fig. 1 shown device.

Fig. 7 is the anglec of rotation rule over time of welding torch rotating mechanism in the embodiment of the present invention.

Fig. 8 is the instantaneous angular velocity rule over time of welding torch rotating mechanism in the embodiment of the present invention.

Fig. 9 is the displacement of the first one dimension translation mechanism in the embodiment of the present invention and the displacement rule over time of the second one dimension translation mechanism.

Figure 10 is the instantaneous velocity of the first one dimension translation mechanism in the embodiment of the present invention and the instantaneous velocity rule over time of the second one dimension translation mechanism.

In Fig. 1 to Figure 10:

1-base; 2-motion controller; 3-welding energy source; 4-welding torch; 5-two-dimension translational mechanism; 51-the first one dimension translation mechanism; 52-the second one dimension translation mechanism; 6-welding torch rotating mechanism; 7-workpiece to be welded; 71-track to be welded;

{ W}-world coordinate system; O _w, x _w, y _w, z _w-world coordinate system { initial point of W}, transverse axis, the longitudinal axis and vertical pivot;

{ P}-welding torch coordinate system; O _p, x _p, y _p, z _p-welding torch coordinate system { initial point of P}, transverse axis, the longitudinal axis and vertical pivot;

T-time;

X _rthe displacement of (t)-t first one dimension translation mechanism;

the instantaneous velocity of-t first one dimension translation mechanism;

Y _rthe displacement of (t)-t second one dimension translation mechanism;

the instantaneous velocity of-t second one dimension translation mechanism;

The anglec of rotation of θ (t)-t welding torch rotating mechanism;

the instantaneous angular velocity of-t welding torch rotating mechanism;

Q-treat solder joint;

E-torch tip point;

C-speed of welding;

α-welding torch inclination angle;

H-torch tip point and the directed distance treating between solder joint.

Detailed description of the invention

Be described further below in conjunction with the principle of accompanying drawing to a kind of motion control method for large-scale component plane curve Antiinterference that the present invention proposes.

A kind of motion control method embodiment for large-scale component plane curve Antiinterference that Fig. 1 is proposition adopt the axonometric drawing of device, Fig. 2, Fig. 3 and Fig. 4 are respectively the front view of described device, side view and top view, and described device comprises base 1, motion controller 2, welding energy source 3, welding torch 4, two-dimension translational mechanism 5 and welding torch rotating mechanism 6; Described base 1 is mechanically connected with described two-dimension translational mechanism 5; Described motion controller 2 is electric machine controller, is connected respectively with described two-dimension translational mechanism 5 with described welding torch rotating mechanism 6 by wire; Described motion controller 2 drives described two-dimension translational mechanism 5 and described welding torch rotating mechanism 6 to move; Described welding energy source 3 is Tig Welding power supply, provides the energy of welding process to input; Described welding torch 4 is connected by wire with described welding energy source 3; Described two-dimension translational mechanism 5 comprises the first one dimension translation mechanism 51 and the second one dimension translation mechanism 52; Described first one dimension translation mechanism 51 and described second one dimension translation mechanism 52 all adopt ball wire rod mechanism, and described ball wire rod mechanism is driven by motor; The direction of motion of described first one dimension translation mechanism 51 and described second one dimension translation mechanism 52 is mutually orthogonal; Described welding torch rotating mechanism 6 is made up of motor and decelerator; Described welding torch rotating mechanism 6 is arranged on the movement output end of described two-dimension translational mechanism 5; Described welding torch 4 is arranged on the movement output end of described welding torch rotating mechanism 6; The rotating shaft direction of described welding torch rotating mechanism 6 is mutually orthogonal with the direction of motion of described first one dimension translation mechanism 51 and described second one dimension translation mechanism 52 respectively; Workpiece 7 to be welded is arranged on described base 1; Track 71 to be welded is positioned at same plane with the axis direction of welding torch 4.

Fig. 5 is a kind of establishment of coordinate system situation of the motion control method embodiment for large-scale component plane curve Antiinterference, the principle schematic of each parameter geometrical relationship that adopt Fig. 1 shown device.Set up world coordinate system { W}, the described world coordinate system { x of W} with base 1 consolidation _wo _wy _wplane and track to be welded 71 place planes overlapping, x _wdirection of principal axis and y _wdirection of principal axis is parallel with the direction of motion of the second one dimension translation mechanism 52 with the first one dimension translation mechanism 51 respectively; Set up welding torch coordinate system { P}, described welding torch coordinate system { the initial point O of P} with welding torch 4 consolidation _poverlap with welding torch 4 distal point, the described welding torch coordinate system { y of P} _paxle and welding torch 4 dead in line, x _po _py _pplane and track to be welded 71 place planes overlapping; Welding torch coordinate system { the x of P} described in initial time _pdirection of principal axis and y _pdirection of principal axis respectively with the described world coordinate system { x of W} _wdirection of principal axis and y _wdirection of principal axis is parallel to each other.According to welding torch coordinate system, { relative position of the pivot of P} and welding torch rotating mechanism 6 can obtain the pivot of welding torch rotating mechanism 6 at welding torch coordinate system { the abscissa r in P} _xwith ordinate r _y.In the present embodiment, r _x=0, r _y=100mm.

Track 71 to be welded chooses N number of discrete point from starting point to the end, measures and obtain N number of discrete point at world coordinate system { the abscissa x in W} _iwith ordinate y _i, wherein N be more than or equal to 2 positive integer, i is the positive integer being less than or equal to N, x _iand y _ifor any real number; Make two-dimensional columns vector X _i=[x _i, y _i] ^t.At world coordinate system, { coordinate in W} can use three-coordinates measuring machine to obtain to discrete point, and workpiece cad model also can be utilized to import.

If the intersection point of welding torch 4 axis and track to be welded 71 is for treating solder joint; Note treats that solder joint is a Q, and welding torch 4 distal point is some E; Before welding, preset speed of welding C, welding torch 4 distal point and treat the directed distance h between solder joint and welding torch inclination alpha, wherein C be not equal to arbitrarily zero real number, h, α are any real number.

For realizing continuous welding, { in W}, curve interpolating must be carried out to measuring the discrete point obtained at world coordinate system.In the present invention, B-spline curves are adopted to carry out interpolation.If the B-spline curves equation of interpolation is:

$X_w\left(u\right)=\underset{\mathrm{\σ}=1}{\overset{N}{\Σ}}{D}_{\mathrm{\σ}}\·{\mathrm{\Γ}}_{\mathrm{\σ},q}\left(u\right),u\∈\[0,1\]---\left(1\right)$

In formula, u is function X _wthe independent variable of (u), D _σfor B-spline curves X _wthe control point coordinate of (u), D _σbe two-dimensional columns vector, σ is the positive integer being not more than arbitrarily N, Γ _σ, _qu () is the basic function of q-1 rank B-spline curves, q is any positive integer.

Adopt the B-spline curves with multiple knot to carry out interpolation in the present embodiment, the nodal value of these B-spline curves is respectively:

Wherein, β ₁, β ₂..., β _n-1-qfor nodal value to be asked.

Except need determining the nodal value of B-spline curves, also need to determine an X _iplace B-spline curves X _wthe independent variable value u of (u) _i.In the present embodiment, accumulation chord length method is adopted to determine u _ivalue:

$u_i=\left\{\begin{array}{cc}0,& i=1\\ \frac{\underset{k=1}{\overset{i-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|}{\underset{k=1}{\overset{N-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|},& 2\≤i\≤N\end{array}\right.---\left(3\right)$

The nodal value β of B-spline curves ₁, β ₂..., β _n-1-qdetermine with following formula:

${\mathrm{\β}}_m=\frac{1}{q}\underset{k=m+1}{\overset{m+q}{\Σ}}{u}_k---\left(4\right)$

In formula, m is the positive integer being not more than arbitrarily N-1-q.

Convolution (1) can obtain control point D to formula (4) _σthe equation met:

$\underset{\mathrm{\σ}=1}{\overset{N}{\Σ}}{\mathrm{\Γ}}_{\mathrm{\σ},q}\left(u_i\right)\·D_{\mathrm{\σ}}=X_i---\left(5\right)$

Determine the nodal value of B-spline curves according to formula (3) and formula (4), and calculate control point coordinate according to formula (5), complete discrete point coordinate X _ib-spline curves interpolation, obtain track 71 to be welded in the world coordinate system { equation X in W} _w(u).According to curvilinear equation X _wu () can calculate the tangent vector at any point place on track 71 to be welded and normal vector at world coordinate system { the coordinate s in W} _w(u) and n _w(u):

$\left\{\begin{array}{c}{s}_w\left(u\right)=\frac{{\mathrm{dX}}_w\left(u\right)}{du}\\ n_w\left(u\right)=\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]s_w\left(u\right)\end{array}\right.---\left(6\right)$

To preset and after B-spline curves interpolation completing welding parameter, energy input when welding energy source 3 provides welding, and motion controller 2 sends control signal, drives two-dimension translational mechanism 5 and welding torch rotating mechanism 7 Union Movement.Now, the first one dimension translation mechanism 51 and the displacement of the second one dimension translation mechanism 52 and the parameter rule over time such as the anglec of rotation of instantaneous velocity and welding torch rotating mechanism 6 and instantaneous angular velocity must be calculated, make the requirements such as parameters constant such as directed distance, welding torch inclination angle meeting speed of welding, welding torch 4 distal point and treat between solder joint in whole welding process.

Be located at t, the anglec of rotation of welding torch rotating mechanism 6 is θ (t), and relative to world coordinate system, { abscissa of W} is the displacement X of the first one dimension translation mechanism 51 to the pivot of welding torch rotating mechanism 6 _rt (), relative to world coordinate system, { ordinate of W} is the displacement Y of described second one dimension translation mechanism 52 to the pivot of welding torch rotating mechanism 6 _r(t).

Be located at t, treat that { coordinate of W} is Q to solder joint Q relative to world coordinate system _w(t), it meets:

Q _w(t)=X _win the formula of (u (t)) (7), u (t) is t function X _wthe independent variable value of (u).

In t, welding torch 4 distal point E is at world coordinate system { the coordinate E in W} _w(t) be:

$E_w\left(t\right)=\left[\begin{array}{c}{X}_r\left(t\right)\\ Y_r\left(t\right)\end{array}\right]+R\left(t\right)\·\left[\begin{array}{c}{r}_x\\ r_y\end{array}\right]---\left(8\right)$

In formula,

$R\left(t\right)=\left[\begin{array}{cc}cos\[\mathrm{\θ}\left(t\right)\]& -sin\[\mathrm{\θ}\left(t\right)\]\\ sin\[\mathrm{\θ}\left(t\right)\]& \cos \[\mathrm{\θ}\left(t\right)\]\end{array}\right]---\left(9\right)$

In t, the unit direction vector of welding torch 4 axis is at world coordinate system { the coordinate l in W} _w(t) be:

$l_w\left(t\right)=R\left(t\right)\left[\begin{array}{c}0\\ 1\end{array}\right]---\left(10\right)$

According to welding torch 4 distal point and treat that directed distance perseverance between solder joint is for h, can obtain:

E _w(t)＝Q _w(t)+h·l _w(t)(11)

According to welding torch 4 axis with treat that solder joint place normal vector becomes α angle, can obtain:

$l_w\left(t\right)=\left[\begin{array}{cc}cos\mathrm{\α}& -sin\mathrm{\α}\\ sin\mathrm{\α}& \cos \mathrm{\α}\end{array}\right]\frac{n_w\left(u\right(t))}{\left|\right|n_w\left(u\right(t)\left)\right||}---\left(12\right)$

Convolution (6) can obtain to formula (12):

$\left[\begin{array}{c}cos\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\\ sin\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\end{array}\right]=\frac{s_w\left(u\right(t))}{\left|\right|s_w\left(u\right(t)\left)\right||}---\left(13\right)$

$\left[\begin{array}{c}{X}_r\left(t\right)\\ Y_r\left(t\right)\end{array}\right]=X_w\left(u\right(t\left)\right)+\left[\begin{array}{cc}-cos\[\mathrm{\θ}\left(t\right)\]& sin\[\mathrm{\θ}\left(t\right)\]\\ -sin\[\mathrm{\θ}\left(t\right)\]& -cos\[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]---\left(14\right)$

Formula (13) and formula (14), to time t differentiate, can obtain:

$\left[\begin{array}{c}sin\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\\ -cos\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\end{array}\right]\frac{d\mathrm{\θ}\left(t\right)}{dt}=\frac{d}{du}\[\frac{s_w\left(u\right)}{\left|\right|s_w\left(u\right)\left|\right|}\]{|}_{u=u\left(t\right)}---\left(15\right)$

$\left[\begin{array}{c}\frac{{\mathrm{dX}}_r\left(t\right)}{dt}\\ \frac{{\mathrm{dY}}_r\left(t\right)}{dt}\end{array}\right]=s_w\left(u\right(t\left)\right)\frac{du\left(t\right)}{dt}+\left[\begin{array}{cc}\sin \[\mathrm{\θ}\left(t\right)\]& \cos \[\mathrm{\θ}\left(t\right)\]\\ -\cos \[\mathrm{\θ}\left(t\right)\]& \sin \[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]\frac{d\mathrm{\θ}\left(t\right)}{dt}---\left(16\right)$

Gain knowledge according to vector calculus, known:

$\frac{d}{du}\[\frac{s_w\left(u\right)}{\left|\right|s_w\left(u\right)\left|\right|}\]=\frac{1}{\left|\right|s_w\left(u\right)\left|\right|}\frac{{\mathrm{ds}}_w\left(u\right)}{du}-\frac{s_w\left(u\right)}{\left|\right|s_w\left(u\right)|{|}^3}{s}_w^T\left(u\right)\frac{{\mathrm{ds}}_w\left(u\right)}{du}---\left(17\right)$

Convolution (13) can obtain to formula (17):

$\frac{d\mathrm{\θ}\left(t\right)}{dt}=\frac{1}{\left|\right|s_w\left(u\right(t)\left)\right|{|}^2}\·n_w^T\left(u\right(t\left)\right)\·\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}\·\frac{du\left(t\right)}{dt}---\left(18\right)$

Known according to formula (13), formula (14), formula (16) and formula (18), as long as obtain the expression formula of u (t), t first one dimension translation mechanism 51 and the displacement of the second one dimension translation mechanism 52 and the anglec of rotation of instantaneous velocity and welding torch rotating mechanism 6 and instantaneous angular velocity can be calculated.The expression formula of u (t) obtains by speed of welding controlled condition.

According to formula (7), formula (10) and formula (11), the instantaneous velocity of welding torch 4 distal point in t can be calculated:

$\frac{{\mathrm{dE}}_w\left(t\right)}{dt}=s_w\left(u\right(t\left)\right)\frac{du\left(t\right)}{dt}-h\left[\begin{array}{c}cos\[\mathrm{\θ}\left(t\right)\]\\ sin\[\mathrm{\θ}\left(t\right)\]\end{array}\right]\frac{d\mathrm{\θ}\left(t\right)}{dt}---\left(19\right)$

Welding torch 4 distal point is relative to treating that the speed of solder joint is treating the projection that solder joint is tangential, and namely speed of welding should meet:

$\frac{s_w^T\left(u\right(t\left)\right)}{\left|\right|s_w\left(u\right(t\left)\right)\left|\right|}\·\frac{{\mathrm{dE}}_w\left(t\right)}{dt}=C---\left(20\right)$

Formula (19) is substituted into formula (20):

$\left|\right|s_w\left(u\right(t\left)\right)\left|\right|\frac{du\left(t\right)}{dt}-h\·\frac{s_w^T\left(u\right(t\left)\right)}{\left|\right|s_w\left(u\right(t\left)\right)\left|\right|}\left[\begin{array}{c}\cos \[\mathrm{\θ}\left(t\right)\]\\ \sin \[\mathrm{\θ}\left(t\right)\]\end{array}\right]\frac{d\mathrm{\θ}\left(t\right)}{dt}=C---\left(21\right)$

According to formula (13):

$\left[\begin{array}{c}cos\[\mathrm{\θ}\left(t\right)\]\\ sin\[\mathrm{\θ}\left(t\right)\]\end{array}\right]=\left[\begin{array}{cc}cos\mathrm{\α}& -sin\mathrm{\α}\\ sin\mathrm{\α}& \cos \mathrm{\α}\end{array}\right]\frac{s_w\left(u\right(t))}{\left|\right|s_w\left(u\right(t)\left)\right||}---\left(22\right)$

That is:

$\left\{\begin{array}{c}\cos \[\mathrm{\θ}\left(t\right)\]=\frac{e_1^T{s}_w\left(u\right(t\left)\right)\cos \mathrm{\α}-e_2^T{s}_w\left(u\right(t\left)\right)\sin \mathrm{\α}}{\left|\right|s_w\left(u\right(t)\left)\right||}\\ \sin \[\mathrm{\θ}\left(t\right)\]=\frac{e_1^T{s}_w\left(u\right(t\left)\right)\sin \mathrm{\α}+e_2^T{s}_w\left(u\right(t\left)\right)\cos \mathrm{\α}}{\left|\right|s_w\left(u\right(t)\left)\right||}\end{array}\right.---\left(23\right)$

In formula, e ₁=[1,0] ^t, e ₂=[0,1] ^t.Can obtain according to formula (23):

$\frac{s_w^T\left(u\right(t\left)\right)}{\left|\right|s_w\left(u\right(t\left)\right)\left|\right|}\left[\begin{array}{c}cos\[\mathrm{\θ}\left(t\right)\]\\ sin\[\mathrm{\θ}\left(t\right)\]\end{array}\right]=cos\mathrm{\α}---\left(24\right)$

Formula (24) and formula (18) are substituted into formula (21) the constant equation of final speed of welding can be obtained:

$\[\left|\right|s_w\left(u\right(t\left)\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(u\right(t\left)\right)|{|}^2}\·n_w^T\left(u\right(t\left)\right)\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}\]\·\frac{du\left(t\right)}{dt}=C---\left(25\right)$

That is:

$\frac{du\left(t\right)}{dt}=\frac{C}{\left|\right|s_w\left(u\right(t\left)\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(u\right(t\left)\right)|{|}^2}\·n_w^T\left(u\right(t\left)\right)\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}}---\left(26\right)$

The solution of formula (26) differential equation is:

${\∫}_0^{u\left(t\right)}\[\left|\right|s_w\left(\mathrm{\ξ}\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(\mathrm{\ξ}\right)|{|}^2}\·n_w^T\left(\mathrm{\ξ}\right)\frac{{\mathrm{ds}}_w\left(\mathrm{\ξ}\right)}{d\mathrm{\ξ}}\]d\mathrm{\ξ}=C\·t---\left(27\right)$

In formula, ξ is integration variable.

Can u (t) be calculated according to formula (27), thus t first one dimension translation mechanism 51 and the displacement of the second one dimension translation mechanism 52 and the anglec of rotation of instantaneous velocity and welding torch rotating mechanism 6 and instantaneous angular velocity can be calculated further.

Comprehensive above analysis, as shown in Figure 6, its step is as follows for the flow chart of a kind of motion control method embodiment for large-scale component plane curve Antiinterference that the present invention proposes:

1) world coordinate system { W}, the described world coordinate system { x of W} with described base 1 consolidation is set up _wo _wy _wplane and track to be welded 71 place planes overlapping, x _wdirection of principal axis and y _wdirection of principal axis is parallel with the direction of motion of the second one dimension translation mechanism 52 with described first one dimension translation mechanism 51 respectively; Set up welding torch coordinate system { P}, described welding torch coordinate system { the initial point O of P} with described welding torch 4 consolidation _poverlap with described welding torch 4 distal point, y _paxle and described welding torch 4 dead in line, x _po _py _pplane and track to be welded 71 place planes overlapping; Welding torch coordinate system { the x of P} described in initial time _pdirection of principal axis and y _pdirection of principal axis respectively with the described world coordinate system { x of W} _wdirection of principal axis and y _wdirection of principal axis is parallel to each other;

2) on described track 71 to be welded, choose N number of discrete point from starting point to the end, measure and obtain N number of discrete point at described world coordinate system { the abscissa x in W} _iwith ordinate y _i, wherein N be more than or equal to 2 positive integer, i is the positive integer being less than or equal to N, x _iand y _ifor any real number; Make two-dimensional columns vector X _i=[x _i, y _i] ^t;

3) set the intersection point of described welding torch 4 axis and track to be welded 71 as treating solder joint; Before welding, preset speed of welding C, welding torch 4 distal point and treat the directed distance h between solder joint and welding torch inclination alpha, wherein C be not equal to arbitrarily zero real number, h, α are any real number;

4) to X _icarry out B-spline curves interpolation, make the SPL X of interpolation _wu () meets X _w(u _i)=X _i, wherein u is SPL X _wthe independent variable of (u), and:

$u_i=\{\begin{array}{cc}0,& i=1\\ \frac{\underset{k=1}{\overset{i-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|}{\underset{k=1}{\overset{N-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|},& 2\≤i\≤N\end{array}---\left(28\right)$

5) adopt welding energy source 3 to provide energy during welding to input, and make motion controller 2 send control signal, drive described two-dimension translational mechanism 5 and the Union Movement of described welding torch rotating mechanism 6;

If t is any nonnegative real number;

In t, motion controller 2 drives described welding torch rotating mechanism 6 to move, and the rotation angle θ (t) of described welding torch rotating mechanism 6 is met:

$\left[\begin{array}{c}cos\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\\ sin\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\end{array}\right]=\frac{s_w\left(u\right(t))}{\left|\right|s_w\left(u\right(t)\left)\right||}---\left(29\right)$

In formula, u (t) is determined by following formula:

${\∫}_0^{u\left(t\right)}\[\left|\right|s_w\left(\mathrm{\ξ}\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(\mathrm{\ξ}\right)|{|}^2}\·n_w^T\left(\mathrm{\ξ}\right)\frac{{\mathrm{ds}}_w\left(\mathrm{\ξ}\right)}{d\mathrm{\ξ}}\]d\mathrm{\ξ}=C\·t---\left(30\right)$

In formula, ξ is integration variable, and function s _w(u) and n _wu () is determined by following formula:

$\left\{\begin{array}{c}{s}_w\left(u\right)=\frac{{\mathrm{dX}}_w\left(u\right)}{du}\\ n_w\left(u\right)=\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]s_w\left(u\right)\end{array}\right.---\left(31\right)$

In t, motion controller 2 drives described welding torch rotating mechanism 6 to move, and makes the instantaneous angular velocity of described welding torch rotating mechanism 6 meet:

$\frac{d\mathrm{\θ}\left(t\right)}{\mathrm{\ω}}=\frac{1}{\left|\right|s_w\left(u\right(t\left)\right)|{|}^2}\·n_w^T\left(u\right(t\left)\right)\·\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}\·\frac{du\left(t\right)}{dt}---\left(32\right)$

In formula,

$\frac{du\left(t\right)}{dt}=\frac{C}{\left|\right|s_w\left(u\right(t\left)\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(u\right(t\left)\right)|{|}^2}\·n_w^T\left(u\right(t\left)\right)\·\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}}---\left(33\right)$

In t, if the pivot of described welding torch rotating mechanism 6 is relative to described world coordinate system, { abscissa of W} is the displacement X of described first one dimension translation mechanism 51 _rt (), relative to described world coordinate system, { ordinate of W} is the displacement Y of described second one dimension translation mechanism 52 to the pivot of described welding torch rotating mechanism 6 _r(t); In t, motion controller 2 drives described first one dimension translation mechanism 51 and described second one dimension translation mechanism 52 Union Movement, makes the displacement X of described first one dimension translation mechanism 51 _rthe displacement Y of (t) and described second one dimension translation mechanism 52 _rt () meets:

$\left[\begin{array}{c}{X}_r\left(t\right)\\ Y_r\left(t\right)\end{array}\right]=X_w\left(u\right(t\left)\right)+\left[\begin{array}{cc}-\cos \[\mathrm{\θ}\left(t\right)\]& \sin \[\mathrm{\θ}\left(t\right)\]\\ -\sin \[\mathrm{\θ}\left(t\right)\]& -\cos \[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]---\left(34\right)$

In formula, r _xand r _ybe respectively the pivot of described welding torch rotating mechanism 6 at welding torch coordinate system { abscissa in P} and ordinate;

In t, motion controller 2 drives described first one dimension translation mechanism 51 and described second one dimension translation mechanism 52 Union Movement, makes the instantaneous velocity of described first one dimension translation mechanism 51 with the instantaneous velocity of described second one dimension translation mechanism 52 meet:

$\left[\begin{array}{c}\frac{{\mathrm{dX}}_r\left(t\right)}{dt}\\ \frac{{\mathrm{dY}}_r\left(t\right)}{dt}\end{array}\right]=s_w\left(u\right(t\left)\right)\frac{du\left(t\right)}{dt}+\left[\begin{array}{cc}\sin \[\mathrm{\θ}\left(t\right)\]& \cos \[\mathrm{\θ}\left(t\right)\]\\ -\cos \[\mathrm{\θ}\left(t\right)\]& \sin \[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]\frac{d\mathrm{\θ}\left(t\right)}{dt}---\left(35\right)$

According to described welding torch 4, workpiece to be welded 7 and world coordinate system, { the relative pose relation of W}, in real time the energy input parameter in the described welding energy source 3 of adjustment, as welding current, weldingvoltage etc.

In an embodiment of the present invention, track 71 to be welded is an elliptical orbit, its world coordinate system the equation in W} is:

$y=f\left(x\right)=800\sqrt{1-\frac{x^2}{{1600}^2}}mm,0mm\≤x\≤1550mm---\left(36\right)$

Selected discrete point coordinate is:

$\left\{\begin{array}{c}{x}_i=2(i-1)\\ y_i=800\sqrt{1-\frac{x_i^2}{{1600}^2}}\end{array}\right.,i=1,2,\mathrm{...},776---\left(37\right)$

Preset speed of welding C=6mm/s, welding torch 4 end and the directed distance h=8mm treating between solder joint, and welding torch inclination alpha=5 °, B-spline curves order q=3.Rule as shown in Figure 7 over time, rule as shown in Figure 8 over time, rule as shown in Figure 9 over time, rule is as shown in Figure 10 over time for the instantaneous velocity of the instantaneous velocity of the first one dimension translation mechanism 51 and the second one dimension translation mechanism 52 for the displacement of the displacement of the first one dimension translation mechanism 51 and the second one dimension translation mechanism 52 for the instantaneous angular velocity of welding torch rotating mechanism 6 for the anglec of rotation that step calculates the welding torch rotating mechanism 6 obtained according to Fig. 6.

It should be noted that above embodiment only for illustration of the present invention and unrestricted the present invention describe scheme; Therefore, although this description with reference to above embodiment to invention has been detailed description, but will be understood by those skilled in the art that, still can modify to the present invention or equivalent replacement, the device as control method of the present invention is applicable to the multiple welding method such as Laser Welding, friction stir welding, the method adopts also can comprise wire feeder and wire feeder controller, motion controller can adopt hydraulic controller, two-dimension translational mechanism can adopt cantilevered mechanism etc.; And all do not depart from technical scheme and the improvement thereof of the spirit and scope of the present invention, it all should be encompassed in the middle of right of the present invention.

The present invention uses welding torch rotating mechanism to adjust torch posture in welding process, use two-dimension translational institutional adjustment welding torch position, and adjust welding energy input parameter in real time according to the relative pose relation of welding torch, workpiece to be welded and world coordinate system, in the welding of any plane curve track weld seam, achieve speed of welding, welding torch inclination angle, torch tip and treat to preset before solder joint distance all can be welded and keep the requirement such as constant in welding process, the guarantee stability of welding process and the uniformity of product quality.System architecture is simple, and cost is low, is suitable for the multiple welding occasions such as large-scale component arbitrary plane curvilinear path weld seam arc welding, Laser Welding, friction stir welding.

Claims (4)

1. the motion control method for large-scale component plane curve Antiinterference, it is characterized in that, the device that the method adopts comprises base (1), motion controller (2), welding energy source (3), welding torch (4), two-dimension translational mechanism (5) and welding torch rotating mechanism (6); Described base (1) and described two-dimension translational mechanism (5) are mechanically connected; Described motion controller (2) is connected by wire with described welding torch rotating mechanism (6) with described two-dimension translational mechanism (5) respectively, or by wireless transmission method communication; Described welding torch (4) is connected by wire with described welding energy source (3), or is connected by light path; Described two-dimension translational mechanism (5) comprises the first one dimension translation mechanism (51) and the second one dimension translation mechanism (52); The direction of motion of described first one dimension translation mechanism (51) and described second one dimension translation mechanism (52) is mutually orthogonal; Described welding torch rotating mechanism (6) is arranged on the movement output end of described two-dimension translational mechanism (5); Described welding torch (4) is arranged on the movement output end of described welding torch rotating mechanism (6); The rotating shaft direction of described welding torch rotating mechanism (6) is mutually orthogonal with the direction of motion of described first one dimension translation mechanism (51) and described second one dimension translation mechanism (52) respectively; Workpiece to be welded (7) is arranged on described base (1); Track to be welded (71) is positioned at same plane with the axis direction of welding torch (4);

Said method comprising the steps of:

1) world coordinate system { W}, the described world coordinate system { x of W} with described base consolidation is set up _wo _wy _wplane and track place to be welded planes overlapping, x _wdirection of principal axis and y _wdirection of principal axis is parallel with the direction of motion of the second one dimension translation mechanism with described first one dimension translation mechanism respectively; Set up welding torch coordinate system { P}, described welding torch coordinate system { the initial point O of P} with described welding torch consolidation _poverlap with described torch tip point, y _paxle overlaps with described torch axis, x _po _py _pplane and track place to be welded planes overlapping; Welding torch coordinate system { the x of P} described in initial time _pdirection of principal axis and y _pdirection of principal axis respectively with the described world coordinate system { x of W} _wdirection of principal axis and y _wdirection of principal axis is parallel to each other;

2) on described track to be welded, choose N number of discrete point from starting point to the end, measure and obtain N number of discrete point at described world coordinate system { the abscissa x in W} _iwith ordinate y _i, wherein N be more than or equal to 2 positive integer, i is the positive integer being less than or equal to N, x _iand y _ifor any real number; Make two-dimensional columns vector X _i=[x _i, y _i] ^t;

3) set the intersection point of torch axis and track to be welded as treating solder joint; Before welding, preset speed of welding C, torch tip point and treat the directed distance h between solder joint and welding torch inclination alpha, wherein C be not equal to arbitrarily zero real number, h, α are any real number;

4) to X _icarry out B-spline curves interpolation, make the SPL X of interpolation _wu () meets X _w(u _i)=X _i, wherein u is SPL X _wthe independent variable of (u), and:

$u_i=\left\{\begin{array}{cc}0,& i=1\\ \frac{\underset{k=1}{\overset{i-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|}{\underset{k=1}{\overset{N-1}{\Σ}}\left|\right|X_{k+1}-X_k\left|\right|},& 2\≤i\≤N\end{array}\right.$

5) adopt welding energy source to provide energy during welding to input, and make motion controller send control signal, drive described two-dimension translational mechanism and the Union Movement of described welding torch rotating mechanism;

If t is any nonnegative real number;

In t, motion controller drives described welding torch rotating mechanism to move, and the rotation angle θ (t) of described welding torch rotating mechanism is met:

$\left[\begin{array}{c}cos\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\\ sin\[\mathrm{\θ}\left(t\right)-\mathrm{\α}\]\end{array}\right]=\frac{s_w\left(u\right(t))}{\left|\right|s_w\left(u\right(t)\left)\right||}$

In formula, u (t) is determined by following formula:

${\∫}_0^{u\left(t\right)}\[\left|\right|s_w\left(\mathrm{\ξ}\right)\left|\right|-\frac{h\cos \mathrm{\α}}{\left|\right|s_w\left(\mathrm{\ξ}\right)|{|}^2}\·n_w^T\left(\mathrm{\ξ}\right)\frac{{\mathrm{ds}}_w\left(\mathrm{\ξ}\right)}{d\mathrm{\ξ}}\]d\mathrm{\ξ}=C\·t$

In formula, ξ is integration variable, and function s _w(u) and n _wu () is determined by following formula:

$\left\{\begin{array}{c}{s}_w\left(u\right)=\frac{{\mathrm{dX}}_w\left(u\right)}{du}\\ n_w\left(u\right)=\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right]s_w\left(u\right)\end{array}\right.$

In t, motion controller drives described welding torch rotating mechanism to move, and makes the instantaneous angular velocity of described welding torch rotating mechanism meet:

$\frac{d\mathrm{\θ}\left(t\right)}{dt}=\frac{1}{\left|\right|s_w\left(u\right(t)\left)\right|{|}^2}\·n_w^T\left(u\right(t\left)\right)\·\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}\·\frac{du\left(t\right)}{dt}$

In formula,

$\frac{du\left(t\right)}{dt}=\frac{C}{\left|\right|s_w\left(u\right(t\left)\right)\left|\right|-\frac{hcos\mathrm{\α}}{\left|\right|s_w\left(u\right(t)\left)\right|{|}^2}\·n_w^T\left(u\right(t\left)\right)\·\frac{{\mathrm{ds}}_w\left(u\right)}{du}{|}_{u=u\left(t\right)}}$

In t, if the pivot of described welding torch rotating mechanism is relative to described world coordinate system, { abscissa of W} is the displacement X of described first one dimension translation mechanism _rt (), relative to described world coordinate system, { ordinate of W} is the displacement Y of described second one dimension translation mechanism to the pivot of described welding torch rotating mechanism _r(t); In t, motion controller drives described first one dimension translation mechanism and described second one dimension translation mechanism Union Movement, makes the displacement X of described first one dimension translation mechanism _rthe displacement Y of (t) and described second one dimension translation mechanism _rt () meets:

$\left[\begin{array}{c}{X}_r\left(t\right)\\ Y_r\left(t\right)\end{array}\right]=X_w\left(u\right(t\left)\right)+\left[\begin{array}{cc}-cos\[\mathrm{\θ}\left(t\right)\]& \sin \[\mathrm{\θ}\left(t\right)\]\\ -sin\[\mathrm{\θ}\left(t\right)\]& -cos\[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]$

In formula, r _xand r _ybe respectively the pivot of described welding torch rotating mechanism at welding torch coordinate system { abscissa in P} and ordinate;

In t, motion controller drives described first one dimension translation mechanism and described second one dimension translation mechanism Union Movement, makes the instantaneous velocity of described first one dimension translation mechanism with the instantaneous velocity of described second one dimension translation mechanism meet:

$\left[\begin{array}{c}\frac{{\mathrm{dX}}_r\left(t\right)}{dt}\\ \frac{{\mathrm{dY}}_r\left(t\right)}{dt}\end{array}\right]=s_w\left(u\right(t\left)\right)\frac{du\left(t\right)}{dy}+\left[\begin{array}{cc}sin\[\mathrm{\θ}\left(t\right)\]& cos\[\mathrm{\θ}\left(t\right)\]\\ -cos\[\mathrm{\θ}\left(t\right)\]& sin\[\mathrm{\θ}\left(t\right)\]\end{array}\right]\left[\begin{array}{c}{r}_x\\ r_y-h\end{array}\right]\frac{d\mathrm{\θ}\left(t\right)}{dt}$

According to described welding torch, workpiece to be welded and world coordinate system { the relative pose relation of W}, in real time the energy input parameter in the described welding energy source of adjustment.

2. a kind of motion control method for large-scale component plane curve Antiinterference as claimed in claim 1, is characterized in that: described welding energy source is electric arc welding power supply, Laser Welding thermal source or friction stir welding motion drive.

3. a kind of motion control method for large-scale component plane curve Antiinterference as claimed in claim 1, is characterized in that: the device that the method adopts also comprises wire feeder and wire feeder controller; Described wire feeder controller is connected with described wire feeder; Described wire feeder end is connected with described welding torch; Make wire feeder controller send control signal, control wire feeder and carry out wire feed in welding process.

4. a kind of motion control method for large-scale component plane curve Antiinterference as claimed in claim 1, is characterized in that: described motion controller is electric machine controller or hydraulic controller.