Development of motion controller and its application in automatic TIG welding system

摘要

To develop a control system of cantilever arm for barrels welding, a motion controller has been developed to fit the welding procedure. Tie main research fields of the controller are: (1) finding effective measures to protect the controller against interferences; (2) decreasing welding current gradually in order to alleviate arc craters which are harmful to seam forming and welding quality; (3) planning the arm velocity to minimize the influence of the arm swing on arc length regulator; (4) adopting adaptive control algorithm with PD feedback and velocity feed-forward to reduce the influence of system inertia and velocity planning on the system transient performance.