CN108453348A - A kind of synchronous double-rotating laser arc sensor current tracking real-time deviation correcting method - Google Patents
A kind of synchronous double-rotating laser arc sensor current tracking real-time deviation correcting method Download PDFInfo
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- CN108453348A CN108453348A CN201810216027.2A CN201810216027A CN108453348A CN 108453348 A CN108453348 A CN 108453348A CN 201810216027 A CN201810216027 A CN 201810216027A CN 108453348 A CN108453348 A CN 108453348A
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Butt Welding And Welding Of Specific Article (AREA)
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Abstract
The invention discloses a kind of synchronous double-rotating laser arc sensor current tracking real-time deviation correcting methods, for real-time deviation correcting in welding process, the pre- track of weld seam is obtained by rotary laser module rotation sweep preposition in synchronous double-rotating laser arc sensor first, then accurate adjust is completed by rotating the arc module, simulation welding current I real-time tracking mock standard electric current I*, while the switching device V by being drawn in current tracking circuit are specifically made using current tracking circuit3、V4The positive and negative rotation of motor is controlled to control the side-to-side movement of welding gun, welding gun is set to be in corresponding position, to make actual welding electric current tightly follow the variation of normalized current, realization standard centering tracks, and the variation for making the simulation arc load in current tracking circuit that actual arc also tightly be followed to load is in corresponding size by the movement of welding gun, to make in welding gun motion change Real-time Feedback to current tracking circuit, close loop negative feedback is formed, completes correction in real time.
Description
Technical field
It is that a kind of synchronous double-rotating laser arc sensor current tracking entangles in real time the present invention relates to automation tracking field
Folk prescription method.
Background technology
The principle of arc sensor is that weld seam transverse direction and vertical deviation information are obtained from the variation of arc current and voltage,
When welding torch and workpiece distance change, electric current accordingly changes, to keep original melting rate.Therefore, the variation of arc current is anti-
It is lateral to can get welding torch by the groove of electric arc oscillatory scanning weld seam from Current wave-shape characteristic for the variation for having reflected torch height
The information of centering.
Currently, being mainly extreme value comparison method and integration differential method for the judgment method of welding gun deviation.Extreme value comparison method is
In the swing process of welding gun, if welding torch center line is not when on groove center line, electric arc swings to the left side and the right, just has
Different stem elongation degree, thus cause different arc currents.This 2 current values are measured, are compared, you can judge electric arc
Position is carried out from motion tracking.And integration differential method is usually using welding torch center as line of demarcation, by the sum of both sides current signal integral
As torch height signal, using the difference that both sides current signal integrates as the deviation signal of welding torch disalignment.Above two
Method is all obtained and could be judged to deviation after torch swinging to Derivative limit on the left or on the right position, is then carried out in Butt welding gun position
Adjustment, processing control relatively lag behind, and do not have real-time.
Traditional laser sensor has that sensor is leading, and real-time is poor, in advance in systems due to sensor
Memory function is increased, the control difficulty of system is caused to increase, complexity improves.And arc blow interference and weldering can not be resisted
Silk bending interference.
Invention content
In order to overcome deficiencies of the prior art, the present invention to propose a kind of synchronous double-rotating laser arc sensor
Current tracking real-time deviation correcting method
The technical solution adopted by the present invention to solve the technical problems is：The present invention proposes a kind of synchronous double-rotating laser electricity
Arc sensor current tracks real-time deviation correcting method, which is characterized in that first by preposition in synchronous double-rotating laser arc sensor 1
2 rotation sweep of rotary laser module obtain the pre- track of weld seam, then complete accurately to adjust by rotating the arc module 3, specifically
Simulation welding current I real-time tracking mock standard electric current I* are made using current tracking circuit, while by drawing in current tracking circuit
The switching device V gone out3、V4The positive and negative rotation of motor is controlled to control the side-to-side movement of welding gun, welding gun is made to be in corresponding position, from
And actual welding electric current is made tightly to follow the variation of normalized current, realize standard centering tracking, and the movement of welding gun will make electric current
The variation that simulation arc load in tracking circuit also tightly follows actual arc to load is in corresponding size, to make welding gun
In motion change Real-time Feedback to current tracking circuit, close loop negative feedback is formed, completes correction in real time.
It includes the following steps：
Step 1：Synchronous double-rotating laser arc sensor scans to obtain weld information
It is welded first by preposition 2 rotation sweep of rotary laser module in synchronous double-rotating laser arc sensor 1
The pre- track of seam, at this time PLC cut off main rotary encoder 5 and arrive from the transmission channel of electric rotating machine 6, only by rotary laser module 2
Rotation sweep reduces unnecessary action, again arrives main rotary encoder 5 from rotation after finding position while welding and completing pre- track
The transmission channel of rotating motor 6 connects, and the synchronous rotary for starting laser and electric arc prepares to obtain torch height variation.
Step 2：The acquisition of mock standard electric current I*
Since the waveform of normalized current is related with weld groove shape, the variation of torch height and scan frequency, by step 1
Preposition rotary laser module 2 does the height that same frequency rotates with welding gun in middle synchronous double-rotating laser arc sensor 1
Variation is torch height variation, therefore, torch height variation function h (t) in the case of obtained centering is sent into Digital Simulation
Program obtains the waveform of corresponding normalized current, scaled to obtain the waveform of mock standard electric current I*, finally will simulation
The waveform of normalized current I* is used as tracks circuit with reference to current signal input current, and simulation welding current I is made tightly to follow its change
Change, realizes standard centering tracking.
Step 3：To simulating the real-time tracking of centering welding current I*
Using the deviation I*-I of the mock standard electric current I* obtained in step 2 and simulation welding current I as with stagnant ring ratio
Comparator compared with characteristic inputs, then controls to adjust the switch V of simulation welding current I sizes respectively by its output1、V2And welding gun
The switch V of side-to-side movement3、V4Break-make.When simulation welding current I reaches Δ I, i.e. I=I*- Δs less than mock standard electric current I*
I, then V1Conducting, V2Shutdown, makes I increase；On the contrary, if simulation welding current I reaches Δ I, i.e. I more than mock standard electric current I*
=I*+ Δ I, then V1Shutdown, V2Conducting, makes I reduce；It can be achieved with the real-time tracking to mock standard electric current I* in this way.Due to I
Just within the scope of I*+ Δ I and I*- Δs I, be serrated ground trace simulation normalized current I*, it is possible to by the way that 2 Δ of ring width is arranged
The size of I meets the tracking error under different welding conditions.
Step 4：Real-time deviation correcting is realized in welding gun movement.
Motor positive and inverse controls switch V3、V4, equally controlled by the output of hysteresis comparator, turn-on time and control
Simulate the switch V of welding current I sizes1、V2It is corresponding consistent respectively, when simulation welding current I reaches less than mock standard electric current I*
Δ I, i.e. I=I*- Δs I, then V3Conducting, V4Shutdown, motor rotate forward welding gun and move downward；On the contrary, if simulation welding current I is big
Reach Δ I, i.e. I=I*+ Δs I in mock standard electric current I*, then V3Shutdown, V4Conducting, motor reversal welding gun move right；Make reality
Border welding current tightly follows the variation of normalized current, realizes standard centering tracking.And the movement of welding gun will make current tracking
Simulation arc load in circuit also tightly follows actual arc load to be in corresponding size, to keep welding gun motion change real
When feed back in current tracking circuit, formed close loop negative feedback, in real time complete correction.
The beneficial effects of the invention are as follows：The present invention proposes a kind of synchronous double-rotating laser arc sensor current tracking
Instant method for correcting error is obtained by 2 rotation sweep of rotary laser module preposition in synchronous double-rotating laser arc sensor 1 first
Then the pre- track of weld seam is completed accurately to adjust by rotating the arc module 3, since preposition 2 need of rotary laser module measure
The height change of welding torch enormously simplifies the complexity of control system without completing accurate correction, while also not
It can be because generating arc blow interference and wire bending interference due to shadow welding quality.Simulation welding current I is made using current tracking circuit
Real-time tracking mock standard electric current I*, since current tracking circuit is in such a way that stagnant ring compares, it is possible to by the way that ring is arranged
Width meets the required precision under different welding conditions.Switching device V by being drawn in current tracking circuit simultaneously3、V4Control electricity
The positive and negative rotation of machine controls the side-to-side movement of welding gun, so that welding gun is in corresponding position, actual welding electric current is made tightly to follow mark
The variation of quasi- electric current, the action of completion correction in real time, real-time deviation correcting of the invention is different from other correction modes, is to judge often
Whether the position of a moment welding gun has deviation, rectifies a deviation immediately if there is deviation, reduces the influence that deviation is brought, and realizes standard
Centering tracks.And the movement of welding gun also tightly follows the simulation arc load made in current tracking circuit at actual arc load
In corresponding size, to make in welding gun motion change Real-time Feedback to current tracking circuit, close loop negative feedback is formed, is improved
The stability and accuracy of system.
Description of the drawings
Fig. 1 is the synchronous double-rotating laser arc sensor structure chart of the present invention
Fig. 2 is the synchronous dual rotary sensor movement locus figure of the present invention
Fig. 3 is fundamental diagram of the present invention
Fig. 4 is motor positive inversion control circuit figure of the present invention
Fig. 5 is the current tracking circuit waveform figure of the present invention
In figure：1-synchronous double-rotating laser arc sensor, 2-rotary laser modules, 3-rotating the arc modules, 4-
Main electric rotating machine, 5-main rotary encoders, 6-from electric rotating machine, and 7-from rotary encoder, 8-workpiece, 9-rotary lasers
Movement locus on workpiece, movement locus of the 10-rotating the arcs on workpiece.
Specific implementation method
In order to preferably express the technical solution and advantageous effect entirely invented, with reference to the accompanying drawings and examples to this hair
It is bright to do further specifically., still, the implementation of the present invention is not limited to this.
Embodiment 1, as depicted in figs. 1 and 2, synchronous double-rotating laser arc sensor 1 is by rotary laser module 2 and rotation
Electric arc module 3 forms, wherein the main electric rotating machine 4 of control rotary laser module 2 directly controls its rotating speed by PLC, servo is driven
Dynamic device again exports the pulse of main rotary encoder 5, and is connected to from the pulse input mouth of 6 driver of electric rotating machine, in this way,
It is given from the rotational angle of electric rotating machine 6 by the output pulse of main rotary encoder 5, rotating speed is also by main rotary encoder 5
Pulse frequency determines, keeps the rotating speed of the two consistent with rotational angle, realizes synchronous rotary, is output it again from rotary encoder 7
It is back in PLC, forms closed loop feedback.
Embodiment 2, the present invention is based on the principle of the real-time deviation correcting method of arc sensing as shown in figure 3, being used for welding process
Middle real-time deviation correcting makes simulation welding current I real-time tracking mock standard electric current I* using current tracking circuit, at the same by electric current with
The switching device V drawn in track circuit3、V4The positive and negative rotation of motor is controlled to control the side-to-side movement of welding gun, makes actual welding electric current
The variation of normalized current is tightly followed, realizes standard centering tracking.And the movement of welding gun will make the mould in current tracking circuit
The variation that quasi- arc load also tightly follows actual arc to load is in corresponding size, to keep welding gun motion change anti-in real time
It is fed in current tracking circuit, forms close loop negative feedback, complete correction in real time.
The present invention is based on the real-time deviation correcting methods of arc sensing to include the following steps：
Step 1：Synchronous double-rotating laser arc sensor scans to obtain weld information
Weld seam is obtained by 2 rotation sweep of rotary laser module preposition in synchronous double-rotating laser arc sensor 1 first
Pre- track, at this time PLC cut off main rotary encoder 5 and arrive from the transmission channel of electric rotating machine 6, only revolved by rotary laser module 2
Turn scanning, reduce unnecessary action, again arrives main rotary encoder 5 from rotation after finding position while welding and completing pre- track
The transmission channel of motor 6 connects, and the synchronous rotary for starting laser and electric arc prepares to obtain torch height variation.
In the case where electric arc makees rotation sweep with cycle T, radius r, for double V-groove or fillet weld, within a period
Torch height variation be
Square groove is overlapped, torch height variation is
Have for I type butting grooves
In formula, θ=arcsin (e/r) ,-pi/2≤θ≤pi/2, ω=2 π/T, HC, r, a be all constant, e is that welding torch deviates
The distance of Weld pipe mill obtains the torch height variation in the case of centering if e=0.
Step 2：The acquisition of mock standard electric current I*
Since the waveform of normalized current is related with weld groove shape, the variation of torch height and scan frequency, by step 1
Preposition rotary laser module 2 does the height that same frequency rotates with welding gun in middle synchronous double-rotating laser arc sensor 1
Variation is torch height variation, therefore, torch height variation function h (t) in the case of obtained centering is sent into Digital Simulation
Program obtains the waveform of corresponding normalized current, scaled to obtain the waveform of mock standard electric current I*, finally will simulation
The waveform of normalized current I* is used as tracks circuit with reference to current signal input current, and simulation welding current I is made tightly to follow its change
Change, realizes standard centering tracking.
For the source of welding current with fabulous dynamic response, dynamic characteristic can be considered proportional component i.e.：P (s)=I (s)/
U (s)=P0, at this moment the transmission function of sensor can be reduced to：
Under the conditions of the general source of welding current, perceptual energy-storage travelling wave tube is contained in power supply-electric arc circuit, and power supply can be considered that single order is used
When property link, P (s)=P0/(1+TpS), arc sensor dynamic model is second-order system, and there are two pole number and a zeros.
The transmission function G (s) of torch height variation H (s) to welding current I (s) are represented by
Wherein K is the static gain under corresponding conditions.
For first order modeling：T1=0.009s, T2=0.021s
For second-order model：T1=0.009s, T2=0.019s, T3=0.0045s
The digital simulation model of arc sensor is：
Step 3：To simulating the real-time tracking of centering welding current I*
Using the deviation I*-I of the mock standard electric current I* obtained in step 2 and simulation welding current I as with stagnant ring ratio
Comparator compared with characteristic inputs, then controls to adjust the switch V of simulation welding current I sizes respectively by its output1、V2And welding gun
The switch V of side-to-side movement3、V4Break-make.When simulation welding current I reaches Δ I, i.e. I=I*- Δs less than mock standard electric current I*
I, then V1Conducting, V2Shutdown, makes I increase；On the contrary, if simulation welding current I reaches Δ I, i.e. I more than mock standard electric current I*
=I*+ Δ I, then V1Shutdown, V2Conducting, makes I reduce；It can be achieved with the real-time tracking to mock standard electric current I*, such as Fig. 5 in this way
It is shown.Since I is just within the scope of I*+ Δ I and I*- Δs I, be serrated ground trace simulation normalized current I*, it is possible to pass through
The size of 2 Δ I of ring width is set to meet the tracking error under different welding conditions.
Step 4：Real-time deviation correcting is realized in welding gun movement.
Motor positive and inverse controls switch V3、V4, equally controlled by the output of hysteresis comparator, turn-on time and control
Simulate the switch V of welding current I sizes1、V2It is corresponding consistent respectively, when simulation welding current I reaches less than mock standard electric current I*
Δ I, i.e. I=I*- Δs I, then V3Conducting, V4Shutdown, motor rotate forward welding gun and move downward；On the contrary, if simulation welding current I is big
Reach Δ I, i.e. I=I*+ Δs I in mock standard electric current I*, then V3Shutdown, V4Conducting, motor reversal welding gun move right；Make reality
Border welding current tightly follows normalized current, realizes standard centering tracking.And the movement of welding gun will make in current tracking circuit
Simulation arc load also tightly follow actual arc load be in corresponding size, to make welding gun motion change Real-time Feedback
Into current tracking circuit, close loop negative feedback is formed, completes correction in real time.
Embodiment 3, as shown in Figure 4.Work as V3Conducting, V4When shutdown, by power supply E1Positive voltage is provided to motor, makes motor work
Make rotating forward motoring condition, welding gun moves downward；Work as V3Shutdown, V4When conducting, by power supply E2Negative voltage is provided to motor, makes electricity
Machine is operated in reversion motoring condition, and welding gun moves right.
The above is only a preferred embodiment of the present invention, it is noted that without departing from the principle of the present invention
Made by several improvement, be all considered as protection scope of the present invention.
Claims (4)
1. a kind of synchronous double-rotating laser arc sensor current tracking real-time deviation correcting method, which is characterized in that first by synchronizing
Preposition 2 rotation sweep of rotary laser module obtains the pre- track of weld seam in double-rotating laser arc sensor 1, then by rotating
Electric arc module 3 is completed accurately to adjust, and specifically makes simulation welding current I real-time tracking mock standard electric currents using current tracking circuit
I*, while the switching device V by being drawn in current tracking circuit3、V4The positive and negative rotation of motor is controlled to control the left and right fortune of welding gun
It is dynamic, so that welding gun is in corresponding position, to make actual welding electric current tightly follow the variation of normalized current, realizes standard centering
Tracking, and the variation that the movement of welding gun will make the simulation arc load in current tracking circuit that actual arc also tightly be followed to load
In corresponding size, to make in welding gun motion change Real-time Feedback to current tracking circuit, close loop negative feedback is formed, in real time
Completion correction, the welding current in the case of the normalized current, that is, centering.
2. a kind of synchronous double-rotating laser arc sensor current tracking real-time deviation correcting method according to claim 1,
It being characterized in that, the synchronous double-rotating laser arc sensor 1 is made of rotary laser module 2 and rotating the arc module 3, wherein
The main electric rotating machine 4 of control rotary laser module 2 directly controls its rotating speed by PLC, and servo-driver is again by main rotary coding
The pulse of device 5 exports, and is connected to from the pulse input mouth of 6 driver of electric rotating machine, in this way, from the rotation of electric rotating machine 6
Angle is given by the output pulse of main rotary encoder 5, and rotating speed is also determined by the pulse frequency of main rotary encoder 5, makes two
The rotating speed of person is consistent with rotational angle, realizes synchronous rotary, outputs it and be back in PLC again from rotary encoder 7, formation is closed
Ring is fed back.
3. a kind of synchronous double-rotating laser arc sensor current tracking real-time deviation correcting method according to claim 1,
It is characterized in that, is done with frequency with rotating the arc module 3 by the rotary laser module 2 in synchronous double-rotating laser arc sensor 1
The rotation of rate obtains welding gun height change and weld groove shape, and laser scanning is obtained to the torch height variation in the case of centering
Function h（t）It is sent into numerical simulation program and obtains the waveform of corresponding normalized current, it is scaled to obtain mock standard electric current I*
Waveform, finally using the waveform of mock standard electric current I* as with reference to current signal input current track circuit, so that simulation is welded
Electric current tightly follows its variation, realizes standard centering tracking.
4. a kind of synchronous instant method for correcting error of double-rotating laser arc sensor current tracking according to claim 1,
It is characterized in that, the current tracking circuit is in such a way that stagnant ring compares, mock standard electric current I*'s and simulation welding current I
Deviation I*-I is inputted as the comparator with stagnant ring comparative characteristic, then big by its output control and regulation simulation welding current I
Small switch V1、V2With the switch V of control motor positive and inverse3、V4Break-make, since I is just within the scope of I*+ I and I*- I,
Be serrated ground trace simulation normalized current I*, it is possible to meet different welding conditions by the way that the size of 2 I of ring width is arranged
Under tracking error, motor positive and inverse control switch V3、V4, equally controlled by the output of hysteresis comparator, when being connected
Between with control simulation welding current size switch V1、V2It is corresponding consistent respectively, to the variation and simulation for so that actual arc is loaded
The variation of arc load is corresponding, and then keeps the variation of actual welding electric current corresponding with the simulation variation of welding current, will weld
In the variation Real-time Feedback to current tracking circuit of actual welding electric current caused by rifle motion change, close loop negative feedback is formed.
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