A closed-loop system is developed to control the weld pool geometry, which is specified by the backside weld width. The welding current and speed are selected as the control variables. A MISO ARX model is used to model this dynamic process. Because of uncertainties in the GTAW process, it is very difficult to design an effective control scheme by conventional modeling and control methods. A model-free adaptive control algorithm has been developed to control the welding process. Simulation confirmed that the developed control system is effective in achieving the desired fusion state.
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