methods for the identification and optimization of mechanical parameters.

摘要

An automatic welding system comprises a sensor carriage Kg which follows a seam L to be welded by means of a seam scanning sensor F1 and also a height (Y direction) sensor F. The positions of X and Y slides of the carriage are sensed at Sx, Sy as the carriage proceeds along the seam and provides inputs to the welding head carriage Ke after a delay at X1, X2. This delay compensates for the lag of the welding head behind the sensor. The width of the weld seam is also measured and similarly delayed at X3 to provide an input for weld speed, wire feed and weld voltage control BGD. IMAGE