CN105478975B - Termination MICROBEAM PLASMA WELDING shaping control method based on telecentricity visual sensing - Google Patents
Termination MICROBEAM PLASMA WELDING shaping control method based on telecentricity visual sensing Download PDFInfo
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- CN105478975B CN105478975B CN201610052313.0A CN201610052313A CN105478975B CN 105478975 B CN105478975 B CN 105478975B CN 201610052313 A CN201610052313 A CN 201610052313A CN 105478975 B CN105478975 B CN 105478975B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/02—Plasma welding
Abstract
Control method is shaped the invention provides a kind of termination MICROBEAM PLASMA WELDING based on telecentricity visual sensing, belongs to welding quality control technology field.The present invention is directed to during thin-walled edge joint pulse MICROBEAM PLASMA WELDING energy parameter fluctuation and radiating condition change etc., and welding process is unstable caused by situation and the uneven problem of appearance of weld, clearly welding pool front transient images are obtained using the coaxial telecentricity visual sensing system of monocular, minor arc current impulse modulation parameter is adjusted in real time with welding the mapping relations of mushroom formed features parameter based on molten bath front transient images and many electrical parameters of welding process, the accurate control of termination MICROBEAM PLASMA WELDING weldering mushroom shaping is realized.The present invention can improve the reliability and a solder yield of welding product, it can be applied to during the termination MICROBEAM PLASMA WELDINGs of field thin-wall metal precision component such as Aero-Space manufacture, the precision welding occasion of the flexible member such as the ultra-thin-wall that is particularly suitable for use in bellows and bellows.
Description
Technical field
The invention belongs to welding quality control technology field.It is related to a kind of thin-walled edge joint based on telecentricity visual sensing
Pulse MICROBEAM PLASMA WELDING shapes On-Line Control Method, can be widely applied to the field thin-wall metals such as Aero-Space manufacture accurate
During the pulse MICROBEAM PLASMA WELDING of component.
Background technology
Thin-wall metal precision component is the high-end dress such as Aero-Space, military issue weapons, nuclear industry, medicine equipment and biomedicine
The indispensable important component of a class in the field of making is prepared, it is strict to weldquality and joint mechanical performance requirement.Pulse microbeam
Plasma welding method (P-MPAW, Pulsed Micro-plasma Arc Welding) with energy density because concentrating, hot shadow
The advantages of area is narrow, arc stability is high and can realize the accurate control of heat input is rung, is heat-resisting thin steel strip, Thin Stainless Steel
The important welding forming manufacture method of the thin-wall metal precision component such as wall pipe, metal bellows and bellows.
Welding forming quality control is to maintain welding process stability, ensure the key of weldquality and joint performance,
It is the premise for realizing intelligent welding.China not yet realizes automation and the robot of thin-wall metal precision component comprehensively at this stage
Change welding production, the automatic weld mode of production of human assistance is still depended at present, exist welding process it is unstable,
Appearance of weld is uneven, stability of the welding quality is difficult to ensure, the low serious problems of once welding success rate of product, especially exists
In Aero-Space manufacture field, traditional welding production mode is faced with severe challenge：It is huge with demand in aerospace industry
Exemplified by the thin-wall metal shell class components such as welding bellows, welding bellows, its weld seam is large number of (when most nearly 100), and
Weldquality is both needed to reach the I grades of requirements of aerospace industry standard, while need to ensure none leak source and by hydraulic pressure, airtight, helium mass spectrum
Leak detection and fatigue life test.Therefore, develop and control skill is shaped with " high-precision weld seam control shape " online for the precision welding of target
Art, is the key content that key breakthrough is needed in thin-wall metal precision component manufacture field badly.
Welding forming control technology based on molten bath back side visual sensing is the important hair of welding quality control technology field
One of direction is opened up, but due to widely used edge joint one side welding with back formation Welder in the manufacture of thin-wall metal precision component
Skill, forming quality information sensing and control to its welding process propose great challenge：Thin-wall metal precision component welding tool
The features such as having thin mother metal wall, fine weld seam and small welding pool, it is desirable to which welding process vision detection system is with big multiplying power
Ensure high accuracy of detection, real-time and stability while with high-resolution optical characteristics.Traditional vision-based detection system
System depends on the high-resolution miniature object of standard industry Shot Detection of big multiplying power, exists that the depth of field is small and enlargement ratio is with object distance
The inherent optics imaging characteristic for changing and changing, it is difficult to directly apply to the dynamic pool of the fine weld seam precision welding of superthin structure
Vision-based detection, weldment manufacturing and positioning errors, molten bath self-oscillation phenomenon, weldment especially in actual welding production are heated
Deformation and external disturbance are difficult to evade, and realize molten bath blur-free imaging and follow-up image procossing to micro- depth of field vision system
Difficulty is brought with feature extraction；In addition, in many welding production occasions, being difficult to directly monitoring weldering due to being limited by welding condition
Back-welding shape state is stitched, how in welding process time lag, Multivariable Coupling and the condition for being difficult to set up accurate welding process model
Under implement accurate control to quality of weld seam molding, be the key issue of thin-wall metal precision component welding manufacture urgent need to resolve.
Through to prior art literature and patent retrieval discovery, number of patent application is special for 200910248029.0 Chinese invention
Profit《A kind of fine welding method of superfine stainless steel mesh》A kind of fine welding method of superfine stainless steel mesh is disclosed, is adopted
The docking automatic welding of Φ 0.15mm~Φ 0.25mm string diameter stainless steel mesh is realized with MICROBEAM PLASMA WELDING method；Patent application
Number be 201010101229.6 Chinese invention patent《A kind of welding method for micro-plasma arc welding of pure titanium foil》Disclose one
The welding method for micro-plasma arc welding of kind of pure titanium foil, by a set of welding process flow realize the thick Ti contents 99% of 0.05mm with
On pure titanium foil micro-beam plasma arc butt welding.Above technical scheme is not directed to MICROBEAM PLASMA WELDING shaping On-line Control
Technology.
In summary, existing MICROBEAM PLASMA WELDING technology only relates to assembling localization method and frock clamp mostly both at home and abroad
Design, welding condition offline optimization, welding bead automatic tracking technology and suitable for thin plate banjo fixing butt jointing or for specific work
The welding technique of part, the appearance of weld having not yet to see suitable for thin-walled edge joint pulse MICROBEAM PLASMA WELDING is online
Control method.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, a kind of termination microbeam based on telecentricity visual sensing is proposed
Plasma Welding shapes control method, to realize that it is online that the weldering mushroom of thin-walled edge joint pulse MICROBEAM PLASMA WELDING process shapes
Control.
To achieve these goals, the present invention takes following technical scheme：
A kind of termination MICROBEAM PLASMA WELDING shaping control method based on telecentricity visual sensing, comprises the following steps：
1) workpiece to be welded is fixed using positioning fixture, adjustment plasma gun locus is located above workpiece, and
And the Weld pipe mill of thin-walled edge joint is directed at downhand welding pose, starting impulse microplasma power supply starts welding；
2) the coaxial telecentricity visual sensing system of monocular is used, molten bath is shot from pulse MICROBEAM PLASMA WELDING molten bath back upper place
Region；
3) continuous acquisition pulse MICROBEAM PLASMA WELDING Top-Side Pool Image, image is carried out to crater image and is located in advance successively
Reason, image segmentation and melt tank edge detecting step obtain molten bath visual signature parameter and stored to industrial control computer, described
Molten bath visual signature parameter includes molten bath length LpooWith pool width Wpoo；Hall sensor, gas flow sensing is respectively adopted
Device and photoelectric code disk tachogenerator acquisition pulse MICROBEAM PLASMA WELDING minor arc electric current, plasma gas flow rate and weldment rotation speed
Spend and input to data collecting card and carry out signal transacting and computing, obtain the welding process parameter for machine recognition and store to work
Industry control computer, the welding process parameter includes minor arc peak point current Ip, current pulse width Pi, minor arc background current Ib、
Plasma gas flow rate QplaAnd welding speed V；
4) use step 3) described in industrial control computer according to molten bath visual signature parameter and welding process parameter with
The Nonlinear Mapping relation for welding mushroom forming dimension carries out on-line operation, obtains weldering mushroom width WcalWith weldering mushroom fusion penetration Dcal；
5) use step 3) described in industrial control computer according to step 4) the weldering mushroom width WcalWith the weldering mushroom width phase
Hope index WsetDifference and weldering mushroom fusion penetration DcalExpect index D with weldering mushroom fusion penetrationsetDifference, using pid control algorithm, mould
Fuzzy control algorithm, Multimode Control algorithm or MFA control algorithm are calculated, and respectively obtain minor arc current impulse tune
The regulated quantity of parameter processed includes minor arc peak point current regulated quantity Δ Ip, minor arc background current regulated quantity Δ IbWith minor arc current impulse
Width adjusting amount Δ Pi, and exported as control instruction to step 1) described in pulse MICROBEAM PLASMA WELDING power supply；
6) according to step 5) described in Δ IpPerform minor arc peak point current IpReal-time adjustment, realize weldering mushroom fusion penetration closed loop
Feedback control；According to Δ IbWith Δ PiMinor arc background current I is performed respectivelybWith minor arc current pulse width PiReal-time regulation, it is real
Now weld the closed loop feedback control of mushroom width.
In above-mentioned technical proposal, step 2) described in the coaxial telecentricity visual sensing system of monocular to include LED coaxial parallel remote
Heart backlight, composite filter mating plate group, industrial telecentric lens and high speed CCD camera.
In above-mentioned technical proposal, step 2) described in industrial telecentric lens in the coaxial telecentricity visual sensing system of monocular be
Optical magnification is 2 to 10 times of industrial telecentric lens, and operating distance is 110.0 ± 2mm or 65.1 ± 2mm.
In above-mentioned technical proposal, step 2) described in composite filter mating plate group bag in the coaxial telecentricity visual sensing system of monocular
Include 808nm ± 30nm near-infrareds narrow band pass filter, neutral light damping plate and heat absorption eyeglass.
In above-mentioned technical proposal, step 2) described in the primary optical axis of the coaxial telecentricity visual sensing system of monocular pass through in molten bath
The heart, the depth of field d of the telecentricity visual sensing system meets d>Lcos θ, wherein l are molten bath length, and θ is primary optical axis and molten bath plane
Between angle,
In above-mentioned technical proposal, when welding point be single layer flakes terminate when, step 5) described in weld the mushroom width phase
Hope index WsetExpect index D with weldering mushroom fusion penetrationsetCalculated using following formula：
Dset=(0.9~1.4) Wset=(2.2~3) × ((0.9~1.4) T)
In formula：T is sheet metal thickness；When welding point is that double-level-metal thin slice is terminated, WsetAnd DsetUsing following formula
Calculate：
In formula：For sheet metal average thickness.
In above-mentioned technical proposal, step 1) the pulse MICROBEAM PLASMA WELDING power supply minor arc peak point current and minor arc base
The degree of regulation for being worth electric current is respectively less than equal to 0.02A, and the degree of regulation of minor arc current pulse width is less than or equal to 0.1%.
Technique effect of the present invention with advantages below and high-lighting：The present invention is using the coaxial telecentricity visual sensing system of monocular
System obtains the molten bath front transient images of thin-walled edge joint pulse MICROBEAM PLASMA WELDING, can overcome Conventional visual sensing system
System optical imagery can not take into account the problem of enlargement ratio and resolution ratio and the depth of field, realize the clear of the dynamic small molten bath of welding process
Imaging；The present invention is using the positive facial vision in molten bath sensing synchronous with welding process multi-parameter, based on molten bath front transient images and weldering
The many electrical parameters of termination process are adjusted in real time with welding the mapping relations of mushroom formed features parameter to minor arc current impulse modulation parameter
Section, realizes the accurate control of termination MICROBEAM PLASMA WELDING weldering mushroom shaping, joins to solve energy during MICROBEAM PLASMA WELDING
Number fluctuation and radiating condition change etc. welding process is unstable caused by situation and the uneven problem of appearance of weld provide it is effective
Solution；The present invention can improve the reliability and a solder yield of welding product, can be applied to Aero-Space
During the pulse MICROBEAM PLASMA WELDINGs in field such as manufacture, the flexible member such as the ultra-thin-wall that is particularly suitable for use in bellows and bellows
Precision welding occasion.
Brief description of the drawings
Fig. 1 is the termination MICROBEAM PLASMA WELDING shaping control method FB(flow block) based on telecentricity visual sensing.
Fig. 2 is the MICROBEAM PLASMA WELDING shaping control system structural representation for realizing the method for the invention.
In figure：The coaxial telecentricity visual sensing system of 1-monocular；2-image pick-up card；3-industrial control computer；4—
Plasma gun；5-pulse MICROBEAM PLASMA WELDING power supply；6-data collecting card；7-precision welding workbench；8-Hall
Current sensor；9-gas flow sensor；10-photoelectric code disk tachogenerator；The coaxial telecentricity visual sensing of 11-monocular
System primary optical axis；12-molten bath；13-weldment.
Fig. 3 is the Top-Side Pool Image sensing schematic diagram of present invention termination MICROBEAM PLASMA WELDING.
In figure：The coaxial parallel telecentricity backlights of 14-LED；15-composite filter mating plate group；16-industry telecentric lens；17—
High speed CCD camera；18-X-axis turntable；19-rotatable connection；20-X-Y-Z Three Degree Of Freedom translation stages；21-
Frame base；22-weldment；23-precision welding lathe；24-welding torch clamping mechanism；25-plasma gun；θ is that monocular is coaxial
Angle between the primary optical axis and molten bath plane of telecentricity visual sensing system.
Fig. 4 is the weldering mushroom schematic cross-section of present invention termination MICROBEAM PLASMA WELDING.
In figure：26-sheet metal；27-positioning fixture；28-weldering mushroom width；29-weldering mushroom fusion penetration.
Fig. 5 is the termination pulse MICROBEAM PLASMA WELDING procedures system identification process based on Hopfield recurrent neural networks.
In figure：U (k), u (k-1), u (k-2), u (k-3) is respectively k, k-1, k-2, the molten bath visual signature ginseng at k-3 moment
Number and welding process parameter, including molten bath length, pool width, minor arc peak point current, current pulse width, minor arc base value electricity
Stream, plasma gas flow rate and speed of welding；Z (k+1), c (k+1), e (k+1) are respectively that the weldering mushroom width at k+1 moment and weldering mushroom are melted
Deep actual value, predicted value and prediction deviation.
Embodiment
The principle of the invention and the course of work are described in further details with reference to the accompanying drawings and examples.
Fig. 2 show the MICROBEAM PLASMA WELDING shaping control system structural representation for realizing the method for the invention, should
System includes the coaxial telecentricity visual sensing system 1 of monocular, image pick-up card 2, industrial control computer 3, plasma gun 4, arteries and veins
MICROBEAM PLASMA WELDING power supply 5, data collecting card 6, precision welding workbench 7, Hall current sensor 8, gas flow is rushed to pass
Sensor 9, photoelectric code disk tachogenerator 10；The plasma gun 4 connects the MICROBEAM PLASMA WELDING by welding cable
The negative pole of power supply 5, the positive pole of the pulse MICROBEAM PLASMA WELDING power supply 5 is by welding cable through the Hall current sensor
8 are connected with weldment；The coaxial telecentricity visual sensing system 1 of monocular connects described image capture card 2 by signal wire, described
Image pick-up card 2 connects the industrial control computer 3 by signal wire, and the industrial control computer 3 is connected with control line
The pulse MICROBEAM PLASMA WELDING power supply 5；The data collecting card 6 connects the industrial control computer 3 by signal wire,
The data collecting card 6 is connected by signal wire through the gas flow sensor 9 with the MICROBEAM PLASMA WELDING power supply 5
Connect, the data collecting card 6 is by signal wire through the photoelectric code disk tachogenerator 10 and the phase of precision welding workbench 7
Connection.
As shown in figure 3, the coaxial telecentricity visual sensing system 1 of monocular includes the coaxial parallel telecentricity backlights 14 of LED, answered
Filter set 15, industrial telecentric lens 16 and high speed CCD camera 17 are closed, the composite filter mating plate group includes 808nm ± 30nm
Near-infrared narrow band pass filter, neutral light damping plate and heat absorption eyeglass, the industrial telecentric lens are that optical magnification is 4 times, work
Make the industrial telecentric lens that distance is 110.0 ± 2mm, the coaxial telecentricity visual sensing system 1 of monocular is fixedly installed on shooting
On machine support, the camera mount is fixedly installed on the front of the precision welding workbench 7, the camera mount bag
X-axis turntable 18, rotatable connection 19, X-Y-Z Three Degree Of Freedoms translation stage 20 and bracket base 21 are included, the X-axis is rotated
Platform 18 and the rotatable connection 19 are affixed, and the rotatable connection 19, which is slided, is embedded in the X-Y-Z tri- freely
Spend on translation stage 20, the X-Y-Z Three Degree Of Freedoms translation stage 20 is fixedly mounted on the bracket base 21, the high-speed CCD
The pinboard of video camera 17 and the X-axis turntable 18 is fixedly linked.
In the present embodiment, the minor arc peak point current of the pulse MICROBEAM PLASMA WELDING power supply and the tune of minor arc background current
Section precision is 0.02A, and the degree of regulation of minor arc current pulse width is 0.1%.
Fig. 1 show the shaping control method flow of the termination MICROBEAM PLASMA WELDING based on telecentricity visual sensing of the present invention
Block diagram, including following steps：
1) workpiece to be welded is fixed using positioning fixture, and positioning fixture is arranged on the precision welding workbench 7, institute
State the GH4169 nickel-base alloys that workpiece to be welded is 0.012~0.3mm thicknesss of slab；Adjustment plasma gun 4 locus is located at
Welding position above workpiece, and with the Weld pipe mill of downhand welding pose alignment thin-walled edge joint；According to workpiece material and plate
Thickness sets welding condition, including：Minor arc peak point current Ip, minor arc background current Ib, current pulse frequency fpul, current impulse
Width Pi, weldingvoltage U, welding speed V, nozzle face and weldment apart from H, plasma gas flow QplaAnd protective gas
Flow Qshi, and the shaping of butt welding mushroom expects that index is set, including weldering mushroom width expects index WsetExpect to refer to weldering mushroom fusion penetration
Mark Dset, the weldering mushroom section of MICROBEAM PLASMA WELDING is terminated as shown in figure 4, when welding point is that single layer flakes are terminated, walking
It is rapid 5) described in weldering mushroom width expect index WsetExpect index D with weldering mushroom fusion penetrationsetCalculated using following formula：
Dset=(0.9~1.4) Wset=(2.2~3) × ((0.9~1.4) T)
In formula：T is sheet metal thickness；When welding point is that double-level-metal thin slice is terminated, WsetAnd DsetUsing following formula
Calculate：
In formula：For sheet metal average thickness；
Protection gas starts to supply gas, and is drawn using 5 pairs of the pulse MICROBEAM PLASMA WELDING power supply plasma gun 4
Arc, after the ignition tip of plasma gun 4 sprays the plasma arc maintenance arc flame of steady and continuous, startup power supply starts weldering
Connect, plasma minor arc arc flame is to be blown out from the nozzle of plasma gun 4 to treating on welding line, when base metal melts and forms molten
After pond, start the precision welding workbench 7 control weldment rotation or along welding direction axis translation；
2) the coaxial telecentricity visual sensing system 1 of monocular is used, shoots molten from pulse MICROBEAM PLASMA WELDING molten bath back upper place
Pool area, the primary optical axis of the coaxial telecentricity visual sensing system 1 of monocular passes through molten bath center, the telecentricity visual sensing system
Depth of field d meets d>Lcos θ, wherein l are molten bath length, and θ is the angle between primary optical axis and molten bath plane,
3) continuous acquisition pulse MICROBEAM PLASMA WELDING Top-Side Pool Image, image is carried out to crater image and is located in advance successively
Reason, image segmentation and melt tank edge detecting step obtain molten bath visual signature parameter and stored to industrial control computer 3, described
Molten bath visual signature parameter includes molten bath length LpooWith pool width Wpoo；Using Hall sensor 8, gas flow sensor 9
With the difference acquisition pulse MICROBEAM PLASMA WELDING minor arc of photoelectric code disk tachogenerator 10 electric current, plasma gas flow rate and weldment rotation
Rotary speed is simultaneously inputted to the progress signal transacting of data collecting card 6 and computing, obtains the welding process parameter for machine recognition and storage
Deposit to industrial control computer 3, the welding process parameter includes minor arc peak point current Ip, current pulse width Pi, minor arc base value
Electric current Ib, plasma gas flow rate QplaAnd welding speed V；
4) use step 3) described in industrial control computer 3 according to molten bath visual signature parameter and welding process parameter with
The Nonlinear Mapping relation for welding mushroom forming dimension carries out on-line operation, obtains weldering mushroom width WcalWith weldering mushroom fusion penetration Dcal；It is described molten
Pond visual signature parameter and the Nonlinear Mapping relation of welding process parameter and weld pool width and weld penetration are by using system
Discrimination method is obtained, in the present embodiment, using Hopfield recurrent neural networks system identifying method to termination pulse microbeam etc.
Ion welding process carries out off-line system identification, obtains molten bath visual signature parameter and welding process parameter and weld pool width and weldering
Stitch the Nonlinear Mapping relation of fusion penetration, the termination pulse MICROBEAM PLASMA WELDING process system based on Hopfield recurrent neural networks
Identification technique scheme of uniting is as shown in Figure 5；
5) use step 3) described in industrial control computer 3 according to step 4) the weldering mushroom width WcalWith weldering mushroom width
Expect index WsetDifference and weldering mushroom fusion penetration DcalExpect index D with weldering mushroom fusion penetrationsetDifference, using pid control algorithm,
FUZZY ALGORITHMS FOR CONTROL, Multimode Control algorithm or MFA control algorithm are calculated, and respectively obtain minor arc current impulse
The adjustment amount of modulation parameter includes minor arc peak point current adjustment amount Δ Ip, minor arc background current adjustment amount Δ IbWith minor arc electric current arteries and veins
Rush width Delta Pi, and exported as control instruction to step 1) described in pulse MICROBEAM PLASMA WELDING power supply 5；
6) according to step 5) described in Δ IpPerform minor arc peak point current IpOn-line tuning, realize weldering mushroom fusion penetration closed loop
Feedback control；According to Δ IbWith Δ PiPerform minor arc background current IbWith minor arc current pulse width PiReal-time regulation, realize weldering
The closed loop feedback control of mushroom width.
Claims (7)
1. a kind of termination MICROBEAM PLASMA WELDING shaping control method based on telecentricity visual sensing, it is characterised in that methods described
Comprise the following steps：
1) workpiece to be welded is fixed using positioning fixture, adjustment plasma gun locus is located above workpiece, and with
Downhand welding pose is directed at the Weld pipe mill of thin-walled edge joint, and starting impulse microplasma power supply starts welding；
2) the coaxial telecentricity visual sensing system of monocular is used, molten bath area is shot from pulse MICROBEAM PLASMA WELDING molten bath back upper place
Domain；
3) continuous acquisition pulse MICROBEAM PLASMA WELDING Top-Side Pool Image, image preprocessing, figure are carried out to crater image successively
Picture segmentation and melt tank edge detecting step obtain molten bath visual signature parameter and stored to industrial control computer, and the molten bath is regarded
Feel that characteristic parameter includes molten bath length LpooWith pool width Wpoo；Hall sensor, gas flow sensor and light is respectively adopted
Code disc tachogenerator acquisition pulse MICROBEAM PLASMA WELDING minor arc electric current, plasma gas flow rate and weldment rotary speed are simultaneously defeated
Enter to data collecting card and carry out signal transacting and computing, obtain the welding process parameter for machine recognition and store to Industry Control
Computer, the welding process parameter includes minor arc peak point current Ip, current pulse width Pi, minor arc background current Ib, plasma
Throughput QplaAnd welding speed V；
4) use step 3) described in industrial control computer according to molten bath visual signature parameter and welding process parameter and weldering mushroom
The Nonlinear Mapping relation of forming dimension carries out on-line operation, obtains weldering mushroom width WcalWith weldering mushroom fusion penetration Dcal；
5) use step 3) described in industrial control computer according to step 4) the weldering mushroom width WcalExpect to refer to weldering mushroom width
Mark WsetDifference and weldering mushroom fusion penetration DcalExpect index D with weldering mushroom fusion penetrationsetDifference, using pid control algorithm, Fuzzy Control
Algorithm processed, Multimode Control algorithm or MFA control algorithm are calculated, and respectively obtain minor arc current impulse modulation ginseng
Several regulated quantitys includes minor arc peak point current regulated quantity Δ Ip, minor arc background current regulated quantity Δ IbWith minor arc current pulse width
Regulated quantity Δ Pi, and exported as control instruction to step 1) described in pulse MICROBEAM PLASMA WELDING power supply；
6) according to step 5) described in Δ IpPerform minor arc peak point current IpReal-time adjustment, realize weldering mushroom fusion penetration closed loop feedback
Control；According to Δ IbWith Δ PiMinor arc background current I is performed respectivelybWith minor arc current pulse width PiReal-time regulation, realize weldering
The closed loop feedback control of mushroom width.
2. a kind of termination MICROBEAM PLASMA WELDING shaping controlling party based on telecentricity visual sensing according to claim 1
Method, it is characterised in that：Step 2) described in the coaxial telecentricity visual sensing system of monocular include the coaxial parallel telecentricity backlights of LED,
Composite filter mating plate group, industrial telecentric lens and high speed CCD camera.
3. a kind of termination MICROBEAM PLASMA WELDING shaping controlling party based on telecentricity visual sensing according to claim 2
Method, it is characterised in that：Industrial telecentric lens in the coaxial telecentricity visual sensing system of monocular be optical magnification be 2 to
10 times of industrial telecentric lens, operating distance is 110.0 ± 2mm or 65.1 ± 2mm.
4. a kind of termination MICROBEAM PLASMA WELDING shaping controlling party based on telecentricity visual sensing according to claim 2
Method, it is characterised in that：It is closely red that composite filter mating plate group in the coaxial telecentricity visual sensing system of monocular includes 808nm ± 30nm
Outer narrow band pass filter, neutral light damping plate and heat absorption eyeglass.
5. a kind of termination MICROBEAM PLASMA WELDING shaping controlling party based on telecentricity visual sensing according to claim 1
Method, it is characterised in that：The primary optical axis of the coaxial telecentricity visual sensing system of monocular passes through molten bath center, the telecentricity visual sensing
The depth of field d of system meets d ＞ lcos θ, and wherein l is molten bath length, and θ is the angle between primary optical axis and molten bath plane,
6. a kind of termination MICROBEAM PLASMA WELDING shaping controlling party based on telecentricity visual sensing according to claim 1
Method, it is characterised in that：When welding point is that single layer flakes are terminated, step 5) described in weldering mushroom width expect index Wset
Expect index D with weldering mushroom fusion penetrationsetCalculated using following formula：
Dset=(0.9~1.4) Wtes=(2.2~3) × ((0.9~1.4) T)
In formula：T is sheet metal thickness；When welding point is that double-level-metal thin slice is terminated, WsetAnd DsetCalculated using following formula：
In formula：For sheet metal average thickness.
7. a kind of termination MICROBEAM PLASMA WELDING shaping controlling party based on telecentricity visual sensing according to claim 1
Method, it is characterised in that：Step 1) the pulse MICROBEAM PLASMA WELDING power supply minor arc peak point current and minor arc background current
Degree of regulation, which is respectively less than, is equal to 0.02A, and the degree of regulation of minor arc current pulse width is less than or equal to 0.1%.
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| CN107598401A (en) * | 2016-07-12 | 2018-01-19 | 沈阳富创精密设备有限公司 | Plasma arc welding (PAW) electric current molten wide control system based on Fuzzy Reasoning Neural Network |
| CN108747825B (en) * | 2018-06-19 | 2020-04-21 | 湖南大学 | Laser trimming and forming grinding wheel device based on visual detection and trimming method thereof |
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