CN108723550A - The GTA silk filling increasing material manufacturing forming height feedbacks of feedforward compensation - Google Patents
The GTA silk filling increasing material manufacturing forming height feedbacks of feedforward compensation Download PDFInfo
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- CN108723550A CN108723550A CN201810524076.2A CN201810524076A CN108723550A CN 108723550 A CN108723550 A CN 108723550A CN 201810524076 A CN201810524076 A CN 201810524076A CN 108723550 A CN108723550 A CN 108723550A
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- 239000000463 material Substances 0.000 title claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 23
- 238000010891 electric arc Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000001186 cumulative effect Effects 0.000 claims abstract description 4
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims description 24
- 239000010937 tungsten Substances 0.000 claims description 24
- 229910052721 tungsten Inorganic materials 0.000 claims description 24
- 229910052751 metal Inorganic materials 0.000 claims description 19
- 239000002184 metal Substances 0.000 claims description 19
- 230000008014 freezing Effects 0.000 claims description 6
- 238000007710 freezing Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 239000000284 extract Substances 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 11
- 239000007787 solid Substances 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 4
- 238000003466 welding Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 229910052786 argon Inorganic materials 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 229910000601 superalloy Inorganic materials 0.000 description 1
Classifications
-
- 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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- 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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/181—Segmentation; Edge detection involving edge growing; involving edge linking
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Quality & Reliability (AREA)
- Prostheses (AREA)
- Materials For Medical Uses (AREA)
- Measuring Volume Flow (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of GTA of feedforward compensation silk filling increasing material manufacturing forming height feedbacks, the described method comprises the following steps：Visual sensor acquires GTA electric arcs, electric arc front solid metallic and electric arc rear crater image；Image processing algorithm detects solid metallic surface and electric arc rear molten bath tail portion solid metallic surface in front of electric arc；Calculate separately feed forward detection point deviation and feedback test point deviation；By in feed forward detection point deviation compensation to cumulative feedback test point deviation, as the input of feedback controller, the variable quantity of control parameter is calculated；The height tolerance of feed forward detection is introduced into the height tolerance of feedback detection by the method for the present invention, it is acted on using the advanced prediction of feed forward detection, aforementioned bulk layer is effectively overcome to currently accumulating the interference of layer height, solve the problems, such as that the traditional detection of feedback merely control height fluctuation is big, strong basis has been established in the high-precision control for GTA silk filling increasing material manufacturing forming heights.
Description
Technical field
The invention belongs to electric arc silk filling increases material manufacturing technology fields, and in particular to a kind of tungsten inert gas of feedforward compensation
(Gas tungsten arc, GTA) silk filling increasing material manufacturing forming height feedback.
Background technology
Using GTA electric arcs as heat source, additional auxiliary silk material is successively accumulated as packing material for GTA silk filling increasing material manufacturings
Form metal component.Currently, the technology titanium alloy, nickel base superalloy, high strength alumin ium alloy component manufacture on have it is good
Application prospect.But GTA fills silk, there are numerous disturbing factors for increasing material manufacturing, such as stack layer radiates, process variations,
Cause the setting height that current stack layer forming height is promoted with GTA welding guns inconsistent.After multilayer is accumulated, tungsten needle to accumulation
The distance change of layer surface is more notable.If apart from excessive, arc energy diverging, stack layer forming is deteriorated；Such as apart from too small,
Tungsten needle contacts molten bath, and molten bath is caused to pollute.
Currently, there is researcher to propose the distance using visual sensor detection tungsten needle tip to current accumulation layer surface,
By on-line tuning technological parameter, the feedback control of piling height is realized.But the stability of feedback control is poor, is embodied in into
Shape part height controls uneven, and producing cause mainly has following two points：(1) conventional feedback test position is apart from tungsten electrode point
Farther out, there are larger lag, process control to belong to Delay control for detecting system at end；(2) previously stacked layer height is non-equal
Even property is affected to current stack layer.To improve the uniformity of drip molding piling height, and further increase forming dimension
Precision, there is an urgent need for develop a kind of Detection & Controling method considering previously stacked layer interference.For this purpose, before the present invention proposes that one kind is based on
The GTA silk filling increasing material manufacturing forming height feedback control new methods of feedback compensation.
Invention content
The purpose of the present invention is to solve existing GTA increasing material manufacturings process vision feedback control high stability difference and control
The low problem of precision proposes a kind of GTA silk filling increasing material manufacturing forming height feedbacks of feedforward compensation.
For achieving the above object, it is anti-to provide a kind of GTA silk filling increasing material manufacturing forming heights of feedforward compensation by the present invention
Control method is presented, is included the following steps：
Step 1：Visual sensor position is adjusted, makes visual sensor optical center perpendicular to GTA rifles and forming path direction group
At plane, frozen metal and electric arc rear crater image in front of acquisition GTA electric arcs, electric arc set tungsten needle tip to shaping layer
The ideal controlling value S on surface0For 2.5-6.5mm, after one layer of forming, the height z of GTA rifles lifting is 0.4-1.9mm；
Step 2：Ignite GTA electric arcs, and along forming path direction, metal freezing region sets the first rectangle in front of electric arc
The distance in region, center to the GTA gun axis lines of the first rectangular area is 6-9mm, in electric arc rear molten bath tail portion metal freezing
Region sets the second rectangular area, and the distance of center to the GTA gun axis lines of the second rectangular area is 5-15mm, and sampling instant is
When t, the surface point in the first rectangular area on frozen metal is extracted using image processing algorithm, i.e., preceding feed point, feed point before determining
The horizontal distance L of tungsten needle end in GTA rifles, determine tungsten needle end to preceding feed point vertical range S1(t), figure is further utilized
As the surface point in the second rectangular area of Processing Algorithm extraction on the frozen metal of molten bath tail portion, i.e. feedback point, determine that feedback point arrives
The vertical range S of tungsten needle end in GTA rifles2(t)；
Step 3：It determines the advanced parameter d that feedovers, calculates the feedback point deviation error of t moment2(t)=S2(t)-S0, calculate
The preceding feed point deviation error at t-d moment1(t-d)=S1(t-d)-z-S0；Wherein, S1(t-d) be (t-d) before the moment feed point to tungsten
The vertical range of needle end；
Step 4：By in the cumulative compensation to feedback point deviation of preceding feed point deviation, the input for calculating t moment feedback controller is inclined
Poor E (t)=error2(t)+error1(t-d), it according to the controller of design, is controlled by the size of E (t) and positive and negative calculating t moment
The regulated quantity Δ WFS (t) of parameter；
Step 5：Continue to repeat to determine Step 2: three, four (t+1) moment feedback controller input deviation E (t+1) and
The regulated quantity Δ WFS (t+1) of control parameter.
It is preferred that the image processing algorithm step described in step 2 include noise remove, it is edge detection, adaptive
Threshold segmentation and marginal point is answered to be fitted.
It is preferred that the advanced parameter d of feedforward described in step 3 is by tungsten needle end in preceding feed point to GTA rifles
Horizontal distance L, the GTA rifle speed of travel, control system detection cycle codetermine, d=[L/ (VsT)], wherein VsFor GTA rifles
The speed of travel, unit mm/s, T are detection cycle, and unit s, [] indicates rounding symbol.
It is preferred that the feedback controller described in step 4 is PID controller or fuzzy controller.
The outstanding advantages that the method for the present invention has are：The method of the present invention proposes a kind of GTA silk fillings based on feedforward compensation
Increasing material manufacturing forming height feedback detects frozen metal and electric arc rear in front of electric arc using visual sensor simultaneously
The feed forward detection deviation compensation on frozen metal surface in front of electric arc is added to electric arc rear by molten bath tail portion solid metallic surface
It feeds back in detection error, the input of the total deviation of detection as feedback closed loop controller, according to the calculating of controller, in real time output
Control the variable quantity of variable.The height tolerance of feed forward detection is introduced into the height tolerance of feedback detection by the method for the present invention, profit
It is acted on the advanced prediction of feed forward detection, effectively overcomes aforementioned bulk layer to currently accumulating the interference of layer height, solve biography
The big problem of the simple feedback feedback control height fluctuation of system, the high-precision control for GTA silk filling increasing material manufacturing forming heights are established
Strong basis.
Description of the drawings
Fig. 1 is the GTA silk filling increasing material manufacturing forming height feedback control system block diagrams of feedforward compensation；
Fig. 2 is visual sensor and GTA welding torch position schematic diagrames；
Fig. 3 is the GTA silk filling increasing material manufacturing original images of acquisition；
Fig. 4 is the GTA silk filling increasing material manufacturing images after image procossing；
Fig. 5 is the piling height feedback control typical parts based on feedforward compensation.
1 is visual sensor, and 2 be GTA welding guns, and 3 be wire leading pipe, and 4 be first window, and 5 be the second window.
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
The increasing material manufacturing piling height feedback as shown in Figure 1, a kind of GTA of feedforward compensation fills silk, including it is following
Step：
Step 1：As shown in Fig. 2, adjusting visual sensor position, make visual sensor optical center perpendicular to GTA rifles and forming
The plane of path direction composition, acquisition GTA electric arcs, electric arc front frozen metal and electric arc rear crater image, acquisition image is such as
Shown in Fig. 3, ideal controlling value S of the setting tungsten needle tip to forming layer surface0For 2.5-6.5mm, after one layer of forming, the lift of GTA rifles
The height z risen is 0.4-1.9mm；
Step 2：Ignite GTA electric arcs, and along forming path direction, metal freezing region sets the first rectangle in front of electric arc
The distance in region, center to the GTA gun axis lines of the first rectangular area is 6-9mm, in electric arc rear molten bath tail portion metal freezing
Region sets the second rectangular area, and the distance of center to the GTA gun axis lines of the second rectangular area is 5-15mm, and sampling instant is
When t, the surface point in the first rectangular area on frozen metal is extracted using image processing algorithm, i.e., preceding feed point, feed point before determining
The horizontal distance L of tungsten needle end in GTA rifles, determine tungsten needle end to preceding feed point vertical range S1(t), figure is further utilized
As the surface point in the second rectangular area of Processing Algorithm extraction on the frozen metal of molten bath tail portion, i.e. feedback point, determine that feedback point arrives
The vertical range S of tungsten needle end in GTA rifles2(t)；
Step 3：It determines the advanced parameter d that feedovers, calculates the feedback point deviation error of t moment2(t)=S2(t)-S0, calculate
The preceding feed point deviation error at t-d moment1(t-d)=S1(t-d)-z-S0；Wherein, S1(t-d) be (t-d) before the moment feed point to tungsten
The vertical range of needle end；
Step 4：By in the cumulative compensation to feedback point deviation of preceding feed point deviation, the input for calculating t moment feedback controller is inclined
Poor E (t)=error2(t)+error1(t-d), it according to the controller of design, is controlled by the size of E (t) and positive and negative calculating t moment
The regulated quantity Δ WFS (t) of parameter；
Step 5：Continue to repeat to determine Step 2: three, four (t+1) moment feedback controller input deviation E (t+1) and
The regulated quantity Δ WFS (t+1) of control parameter.
Image processing algorithm step described in step 2 include noise remove, edge detection, adaptive threshold fuzziness and
Marginal point is fitted, and treated, and image is as shown in Figure 4.
The advanced parameter d of feedforward described in step 3 is by horizontal distance L, GTA of tungsten needle end in preceding feed point to GTA rifles
The rifle speed of travel, control system detection cycle codetermine, d=[L/ (VsT)], wherein VsFor the GTA rifle speeds of travel, unit
It is detection cycle for mm/s, T, unit s, [] indicates rounding symbol.
Feedback controller described in step 4 is PID controller or fuzzy controller, and Fig. 5 is the control of typical straight wall part
Effect.
The specific test platform of the present invention：GTA power supplys are that Fronius MW300, GTA welding guns are mounted on MOTOMAN machines
On the 6th shaft end of people, robot drives the movement of GTA welding guns, banking process to fill silk material and welded for JQ.MG70-G-1 mild steel
Silk, gage of wire 1.2mm, technological parameter are：Electric current 150A, GTA welding gun speed of travel 3.3mm/s, wire feed rate 1.5m/min,
Protection gas is straight argon, gas flow 10L/min.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, all those of ordinary skill in the art are completed without departing from the spirit and technical ideas disclosed in the present invention
All equivalent modifications or change, should by the present invention claim be covered.
Claims (4)
- The increasing material manufacturing forming height feedback 1. the GTA of feedforward compensation fills silk, it is characterised in that include the following steps：Step 1：Visual sensor position is adjusted, visual sensor optical center is made to be formed perpendicular to GTA rifles and forming path direction Plane, acquisition GTA electric arcs, electric arc front frozen metal and electric arc rear crater image, setting tungsten needle tip to forming layer surface Ideal controlling value S0For 2.5-6.5mm, after one layer of forming, the height z of GTA rifles lifting is 0.4-1.9mm；Step 2：Ignite GTA electric arcs, and along forming path direction, metal freezing region sets the first rectangular area in front of electric arc, The distance of the center of first rectangular area to GTA gun axis lines is 6-9mm, is set in electric arc rear molten bath tail portion metal freezing region The distance of fixed second rectangular area, center to the GTA gun axis lines of the second rectangular area is 5-15mm, when sampling instant is t, profit The surface point in the first rectangular area on frozen metal is extracted with image processing algorithm, i.e., preceding feed point determines preceding feed point to GTA rifles The horizontal distance L of interior tungsten needle end, determine tungsten needle end to preceding feed point vertical range S1(t), image procossing is further utilized Algorithm extracts the surface point on the frozen metal of molten bath tail portion, i.e. feedback point in the second rectangular area, determines in feedback point to GTA rifles The vertical range S of tungsten needle end2(t)；Step 3：It determines the advanced parameter d that feedovers, calculates the feedback point deviation error of t moment2(t)=S2(t)-S0, calculate t-d The preceding feed point deviation error at moment1(t-d)=S1(t-d)-z-S0；Wherein, S1(t-d) be (t-d) before the moment feed point to tungsten needle The vertical range of end；Step 4：By in the cumulative compensation to feedback point deviation of preceding feed point deviation, the input deviation E of t moment feedback controller is calculated (t)=error2(t)+error1(t-d), according to the controller of design, by the size of E (t) and positive and negative calculating t moment control ginseng Several regulated quantity Δ WFS (t)；Step 5：Continue to repeat Step 2: three, four, the input deviation E (t+1) of determining (t+1) moment feedback controller and control The regulated quantity Δ WFS (t+1) of parameter.
- The increasing material manufacturing forming height feedback 2. the GTA of feedforward compensation according to claim 1 fills silk, feature It is that the image processing algorithm step described in step 2 includes noise remove, frozen metal edge extracting, image adaptive threshold Value segmentation and marginal point fitting.
- The increasing material manufacturing forming height feedback 3. the GTA of feedforward compensation according to claim 1 fills silk, feature It is that the advanced parameter d of feedforward described in step 3 is by horizontal distance L, the GTA rifle row of tungsten needle end in preceding feed point to GTA rifles Walk speed, control system detection cycle codetermines, d=[L/ (VsT)], wherein VsFor the GTA rifle speeds of travel, unit is Mm/s, T are detection cycle, and unit s, [] indicates rounding symbol.
- The increasing material manufacturing forming height feedback 4. the GTA of feedforward compensation according to claim 1 fills silk, feature It is that the feedback controller described in step 4 is PID controller or fuzzy controller.
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| CN201810524076.2A CN108723550B (en) | 2018-05-28 | 2018-05-28 | Feedforward compensation GTA filler wire additive manufacturing forming height feedback control method |
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Cited By (4)
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| CN109648172A (en) * | 2019-01-23 | 2019-04-19 | 西南交通大学 | The GTA increasing material manufacturing molten wide of arc voltage auxiliary detects vision system real-time calibration method |
| CN110434427A (en) * | 2019-06-03 | 2019-11-12 | 西南交通大学 | Synusia dual variation method method and system are accumulated in pulse GTA silk filling increasing material manufacturing |
| CN112620652A (en) * | 2020-11-27 | 2021-04-09 | 哈尔滨工业大学 | Self-adaptive control system and method for electric arc additive manufacturing process |
| CN113909637A (en) * | 2021-09-30 | 2022-01-11 | 北京博清科技有限公司 | Control method and control device for welding equipment and welding system |
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