【作者】 叶建雄；

【导师】 张华；

【作者基本信息】 南昌大学 ， 机械电子工程， 2007， 博士

【摘要】 伴随着海洋开发、湖泊港口工程的大量出现，对水下焊接技术提出了新的要求。基于旋转电弧传感的湿法水下焊接技术和焊枪倾角的实时检测在世界范围内研究甚少，国内外尚没有这方面的研究报道。论文建立了国内第一套基于旋转电弧传感器的水下焊缝纠偏和焊枪倾角实时检测软硬件系统，探索水下湿法药芯焊丝焊接(FCAW)工艺，实现焊枪倾角实时检测和水下焊缝自动跟踪。论文主要采用区间积分差值法来进行焊枪水平偏差和竖直偏差的判别，对焊接电流采用多种数字信号处理方法，有效地提高了信号的稳定性、可靠性和真实性；提出了求取最佳分界线和积分区间的观点，通过大量的实验数据分析，得到了水平和竖直方向的偏差判别标准：针对不同对象设计了模糊控制器和复合PID控制器来实现快速稳定的偏差纠正。论文还探讨了应用谐波系数分析法和人工神经网络法在旋转电弧传感偏差判别方式，通过分析得到了相关的结论。从理论上分析了利用旋转电弧进行倾角检测的方法原理并通过实验的方法进行分析总结，分别得到了焊枪在对中、完全偏左和完全偏右三种状态下的倾角判据。以VISUAL C++6.0为开发工具，基于多任务操作系统设计了一套界面友好、功能较全的应用软件。论文最后在所搭建的硬件平台上进行了实验验证。大量的实验证明了本系统能够在陆地和水下焊接过程中准确地跟踪多种形式的焊缝，具有较高的跟踪可靠性；能够实现多种状态下的倾角检测，结果比较准确。更多还原

【Abstract】 Accompany with ocean exploitation and emerging of large amount of lake/port engineering, new requests are put forward to underwater welding technology. However, there is rather rare research works has been done in the field of underwater wet welding and welding-gun inclination detection based on rotating arc sensor around the world, Up to now, there is no relative report has been published either.An experimental system, which is used to study the underwater welding-automation and the detection of welding-gun inclination, has been established for the first time in our laboratory, the system is based on high speed rotating arc-sensor and work with flux core welding wire, the aim of our work is to realize the underwater seam-tracking and detection the welding-gun inclination in real time.The approach of calculation the current differences, which is obtained from integration of welding currents in two given areas, is adopted to determine the welding-gun horizontal bias and vertical bias. By means of using manifold digital signal process methods to perform on the noisy sampled signals, the stability、reliability and realism of digitals are greatly improved; Analysis on massive experimental data revealed that both the horizontal bias and vertical bias can all be clarified clearly by this way; Further more, a manipulating system is carried out, two kind of different manipulators are designed for two different control objects, they are the FUZZY controller and hybrid PID controller.The methods of first harmonic coefficient and artificial neural network are also be tried to find out the criterion of welding-gun bias, and corresponding results are obtained too.As for the welding-gun inclination detection, by help of theoretical analysis and great number of experiments in different states----the welding-gun in the middle of seam, in the left side of seam completely and in the right side of seam entirely, satisfied results related to different slop angle are acquired at last.An application software system with a user-friendly interface and comprehensive needed functions is developed by VISUAL C++, it works on a multi-task operation system and is suitable for welding both in-air welding and underwater welding.Massive experiments are carried out in the end to indicate that the system can trace various kind of curve line steadily and reliably, the welding-gun inclination can also be detected with an accepted precision.更多还原