改进的积分差值法在焊枪工作角检测中的应用

摘要

The detection of welding gun walking angle is the important condition for improvement of the welding rnquality and the realization of seam tracking. Firstly, establish the mathematics model of the change of welding gun rnwalking angle, welding deviation and the change of rotating arc length and then with Matlab simulation. Secondly,rnintroduce the detection theory of welding gun working angle, by using the welding gun current integral difference rnmethod through weighting the interval, directly get the characteristics harmonic value which can reflect the rninformation of welding gun attitude from the rotating arc signal. Lastly, on the basis of the theory derived and rnsimulation, get a conclusion that detection of welding gun walking angle and weld deviation is uncorrelated.%焊枪工作角的检测是改善焊接质量和实现焊缝跟踪的重要因素.文中首先建立了焊枪工作角和偏差变化与旋转电弧弧长变化的数学模型,并进行Matlab仿真；其次,介绍了焊枪工作角检测理论,通过采用对区间加权的焊枪电流积分差值法,从旋转电弧信号中获取反映焊枪姿态信息的特征值,最后,在理论推导和仿真的基础上,得到了焊枪工作角检测与焊缝偏差无关的结论.