Preset automated welding systems lack theability to compensate for perturbations that arise during theprocess. In situations where the welding parameters cannot betotally defined, a system that is capable of sensing thevariations and modifying the machine behavior to cope withthese perturbations in real-time is required. This paper presentsresults of an investigation to develop a system for weldpenetration control of the submerged arc welding process.Changes in the temperature distribution surrounding the weldpool were measured using a thermopile infrared detector andused to control weld penetration through changes of wire feedspeed (current) and arc voltage. Experiments were conductedon plates of constant thickness, step change in thickness andbutt joints with variable gaps up to 1/8 inch. The results showthat the system can be used to control weld penetration for theabove perturbations which are commonly encountered during submerged arc welding.
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