【作者】 徐启栋；

【导师】 洪波；

【作者基本信息】 湘潭大学 ， 机械电子工程， 2010， 硕士

【摘要】 焊缝跟踪是现代焊接技术中的一个主要的研究方向之一。本文以旋转电弧焊缝跟踪系统为研究对象,首先研究了基于特征谐波法的焊缝方向检测,为焊接小车的控制提供了有效的控制参数。在焊缝跟踪的整体控制中,提出了结合积分差值法和特征谐波法,分别控制十字滑架和焊接小车。系统的协调过程中,采用Agent及多Agent为智能主体的控制方案,用来协调各种方法与各个控制部分。控制系统以上位机为实现平台,上位机以个人电脑(PC机)为基础,以串口为通信渠道,以Visual C++为编程工具,以MATLAB为计算工具。本文以上位机为基础,设计了信号处理系统,对焊缝跟踪系统进行智能化研究。本文发现在焊缝扫描过程中,扫描的时移特性放映了焊缝方向与焊接方向的偏差角,经过傅立叶变换后,其特征谐向量的相位角会发生改变,这个改变的角度就是焊缝方向与焊接方向的夹角。这个夹角可以用来作为焊接小车的控制量,用来保证焊接小车的方向与焊缝方向一致。本文以MATLAB为处理工具,通过离散傅立叶变换检测出了焊缝方向的夹角,并且进行了仿真,在理论上验证了可行性。由于需要使用积分差值法与特征谐波法相结合的模式才能更加完整的提取特征量,因此提出建立焊缝跟踪系统的上位机系统,采取上位机与下位机分工合作的形式实现两种方法的结合。焊缝跟踪的控制中,在上位机的基础上,提出采用Agent与多Agent智能控制的思想,用于协调各部分的工作,在智能控制方面,作者认为智能Agent应该以智能主体的地位进行控制,真正实现Agent的自治性与主动性,并认为主动性是智能主体的一个基本的属性。由于PC机的性能优异,而且软件成熟通用,因此上位机以PC机为基础。在Visual C++的基础上编写上位机程序,考虑到MATLAB在矩阵运算与复数运算方面的特长,在离散傅立叶变换时在Visual C++的基础上调用MATLAB引擎进行运算,解决了计算工具的问题。上位机与下位机的通信与协调通过串口进行,串口的硬件简单,能够满足上位机与下位机的数据传递要求,而且连接的距离较长,稳定性好。串口的底层协议采用RS-232串口协议,本文还制定应用层的通信协议,以保证上位机与下位机的互相理解。更多还原

【Abstract】 Seam tracking is a modern welding technology major research direction. By a rotary arc seam tracking system for the study object, the first research the weld direction detection method based on the characteristics harmonic, for welding car provides effective control parameters. In the overall control of seam tracking, the proposed method combining the characteristics harmonic method and integral D-value method respectively control the cross slide frame and welding car. In system’s coordination process, the use of Intelligent Agent and Multi Agent as intelligent main block to the control program, to coordinate the each method and control part. The control system has a host computer as a platform, has a PC as hardware base, has serial port for communications channels, makes Visual C++ as programming tools and makes MATLAB for the calculation tool. This paper is based on host computer, designs the signal processing system and research seam tracking system’s intelligent.This dissertation found in the weld during the scan, the time-shift have shown the characteristics angle between welding seam direction and the direction of welding, through the Fourier transform, its characteristic vector’s the phase angle of harmonic change, this change of perspective is the angle between the welding seam direction and the direction of welding. This angle can be used as a welding carriage control value, to ensure the car’s direction and weld seam in the same direction. In this paper, MATLAB as the processing tool, by discrete Fourier transform to detect the angle of the direction of the weld and simulation it, the feasibility is verified in theory.As the need to use the Combination of the integral D-value method and the characteristic harmonic method to get a more complete extraction of characteristic quantities, the seam tracking system establishes the host computer system. Host computer and lower computer division of two parts to achieve combination. In seam tracking control, based on the host computer, intelligent control based on Agent and Multi-Agent are used, to coordinate the work of the various parts, in intelligent control, the Intelligent Agent is on the main block status, realize Agent’s autonomy and initiative, and think that the initiative is a basic agent properties.As the PC-performance, and software maturity generic, so host computer is based on PC. Programming is based on Visual C++, taking into account the MATLAB can do matrix operations and complex operations, when in the discrete Fourier transform the Visual C++ call MATLAB engine operation to solve computing instrument.Communication and coordination between host computer and lower computer is through the serial port, serial port hardware is simple, can satisfy the host computer and lower computer’s data transmission requirements and long distance connections, and has good stability. The underlying protocol uses serial RS-232 serial protocol; the paper has developed the application layer communication protocol, to ensure the host computer and lower computer understanding each other.更多还原