双金属锯条激光焊接机焊缝轨迹跟踪控制模型构建

关景新; 朱韶平

doi:10.13433/j.cnki.1003-8728.20200475

双金属锯条激光焊接机焊缝轨迹跟踪控制模型构建

doi: 10.13433/j.cnki.1003-8728.20200475

珠海城市职业技术学院，广东珠海　519090

基金项目: 广东省教育厅青年创新人才类项目（2017GKQNCX074）与广东省普通高校重点项目（2019GKPTZD082）

详细信息

作者简介:
关景新（1983−），高级工程师，硕士，研究方向为嵌入式技术和模式识别、计算机视觉和网络安全，xi41110910@163.com

中图分类号: TP24
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- 文章访问数: 103
- HTML全文浏览量: 56
- PDF下载量: 20
- 被引次数: 0
出版历程
- 收稿日期: 2020-10-17
- 刊出日期: 2022-09-05

Construction of Seam Tracking Control Model for Laser Welding Machine of Bimetal Saw Blade

Zhuhai City Polytechnic, Zhuhai 519090, Guangdong，China

摘要

摘要: 以提升双金属锯条激光焊接机焊缝轨迹跟踪精度为目的，构建双金属锯条激光焊接机焊缝轨迹跟踪控制模型。采用基于自适应感兴趣区域的方法预处理焊缝轨迹图像，利用水平投影法获取焊缝轨迹中心线，根据焊缝位置处激光条纹有间断的特点，经由扫描激光条纹中心线可以获取焊缝的特征信息，由此确定焊缝轨迹。考虑非完整约束性，利用Lagrange动力学方法描述双金属锯条激光焊接机的动力学模型，基于动力学模型，根据跟踪过程中焊枪点与焊缝轨迹中心线的距离和横向滑块的极限长度间的相关性，制定不同的焊缝跟踪控制策略，考虑双金属锯条激光焊接机的惯性、工件表面不平度等因素，设计基于移动焊接机器人动力学和十字滑块协调控制的滑模变结构控制模型。应用测试结果显示该模型控制下，研究对象焊缝轨迹跟踪结果与实际轨迹基本重合。
- 双金属锯条 /
- 激光焊接机 /
- 焊缝轨迹 /
- 跟踪 /
- 控制 /
- 动力学模型
Abstract: In order to improve the tracking accuracy of the welding seam of the double metal saw blade laser welding machine, the welding seam tracking control model for the double metal saw blade laser welding machine was established. The method based on adaptive region of interest (ROI) is used to preprocess the weld track image, and the center line of weld track is obtained by using the horizontal projection method. According to the characteristics of laser stripe discontinuity at the weld position, the characteristic information of weld can be obtained by using the scanning the center line of laser stripe, thus the weld track can be determined. Considering the nonholonomic constraints, the dynamic model for the laser welding machine of bimetal saw blade is described by using Lagrange dynamics method. Based on the dynamic model, different seam tracking control strategies are formulated according to the correlation between the distance between the welding gun and the center line of the weld track and the limit length of the transverse slider in the tracking process. The inertia and workpiece table of the laser welding machine for bimetal saw blade are considered. The sliding mode variable structure control model is designed based on the dynamics of mobile welding robot and the coordinated control of cross slider. The test results show that under the control of the model, the tracking results of the welding seam track of the research object basically coincide with the actual track.
- bimetal saw blade /
- laser welding machine /
- weld track /
- tracking /
- control /
- dynamic model

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图 1 测试流程

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图 2 实验装置

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图 3 焊缝跟踪结果

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图 4 跟踪轨迹过程中的焊枪横向偏差

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图 5 跟踪轨迹时的焊枪线速度

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图 6 轨迹跟踪时的滑块调整量

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图 7 跟踪轨迹时的左驱动轮转矩

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图 8 跟踪轨迹时的右驱动轮转矩

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图 9 焊缝跟踪效果

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表 1 研究对象参数设置

名称	数值
研究对象本体的转动惯量	2.6 kg·mm²
电机与传动机构间的黏性摩擦因素	0.01
驱动轮的转动惯量	0.05 kg·mm²
驱动轮半径	45 mm
焊枪点到研究对像本体中轴线的距离	195 mm
量驱动轮间的距离	245 mm
驱动轮轴上初始位置点到本体中轴线的距离	385 mm

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