【摘要】 为了克服焊接电弧弧长波动的影响,提高焊接效率和质量,在分析熔化极气体保护焊(GMAW)焊接工艺的基础上,建立了GMAW过程的非线性动态数学模型.在存在弧长扰动的情况下,应用基于微分几何的反馈线性化方法,将GMAW系统等价为完全可控的线性系统,使复杂的非线性控制问题转化为线性系统的控制问题,降低了控制器设计的复杂程度,控制效果明显优于对非线性系统的直接控制.把简单自适应控制方法(SAC)应用于GMAW系统控制中,并进行了Matlab仿真.仿真结果表明,该方法能够精确控制GMAW的电弧弧长,并对系统外部扰动具有较强的鲁棒性.更多还原

【Abstract】 In order to overcome the fluctuations of the arc length and improve the efficiency and quality of the welding,an investigation was made to the gas metal arc welding(GMAW) systems,and a non-linear dynamic system and control model was proposed according to the characteristics of the GMAW systems.In the presence of arc length disturbance circumstance and by means of the feedback linearization procedure of differential geometry,an equivalent,fully controllable and linear model was derived via a homomorphic transformation.This method reduces the complexity of the controller design and the effect is superior to the direct control of the nonlinear system.A simple adaptive controller(SAC) was constructed for the GMAW system.The simulation results by Matlab showed that this method is satisfied with the exact control of welding arc length and the system has strong robustness for the outside disturbance.更多还原