基于Hammerstein模型的GMAW-P焊接熔深自适应预测控制

doi:10.3901/JME.2019.19.138

机械工程学报 ›› 2019, Vol. 55 ›› Issue (19): 138-145.doi: 10.3901/JME.2019.19.138

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基于Hammerstein模型的GMAW-P焊接熔深自适应预测控制

王万东^1,2, 王志江^1,2, 胡绳荪^1,2, 薛坤喜^1,2, 赵冠成^1,2

1. 天津大学天津市现代连接技术重点实验室天津 300350;
2. 天津大学材料科学与工程学院天津 300350

收稿日期:2018-10-13 修回日期:2019-03-04 出版日期:2019-10-05 发布日期:2020-01-07
通讯作者: 王志江(通信作者),男,1981年出生,博士,副教授。主要研究方向为焊接新方法及工艺、焊接过程传感及控制和焊接自动化。E-mail:wangzj@tju.edu.cn
作者简介:王万东,男,1994年出生。主要研究方向为焊接熔透控制。E-mail:wangwandong@tju.edu.cn
基金资助:
国家自然科学基金（51505326）、天津市自然科学基金（16JCQNJC04300）和国家海洋经济创新发展区域示范（BHSF2017-10）资助项目。

Adaptive Predictive Control of Weld Penetration Depth Based on Hammerstein Model in Pulsed Gas Metal Arc Welding

WANG Wandong^1,2, WANG Zhijiang^1,2, HU Shengsun^1,2, XUE Kunxi^1,2, ZHAO Guancheng^1,2

1. Tianjin Key Laboratory of Advanced Joining Technology, Tianjin University, Tianjin 300350;
2. School of Materials Science and Engineering, Tianjin University, Tianjin 300350

Received:2018-10-13 Revised:2019-03-04 Online:2019-10-05 Published:2020-01-07

摘要/Abstract

摘要： 针对脉冲熔化极气体保护焊(Pulsed gas metal arc welding,GMAW-P)过程中焊接熔深的实时控制，使用脉冲峰值期间的电压变化幅值(ΔU)来表征焊接熔深变化，并且通过测量和控制ΔU的大小来间接达到熔深控制的目的。建立了以ΔU为输出和脉冲基值电流为输入的单输入单输出熔深控制系统。系统输入输出之间的静态关系模型显示该熔深控制系统具有一定非线性，因此，采用加入干扰的Hammerstein模型描述该非线性系统。在基于该Hammerstein模型的经典预测控制算法基础上，在控制过程中加入递推最小二乘法在线辨识模型参数，从而实现焊接熔深自适应控制。控制算法仿真和实时焊接试验表明该熔深控制算法能够较好地实现GMAW-P焊接过程中的熔深控制。变散热试验结果验证了该控制算法的有效性和适应性。

关键词: Hammerstein模型, 自适应预测控制, 仿真, 熔深控制, GMAW-P

Abstract: To control weld penetration depth in real time in pulsed gas mental arc welding (GMAW-P) process, the voltage variation amplitude during a peak current period (ΔU) is proposed to characterize the change in weld penetration depth, and ΔU is measured and controlled to control weld penetration depth in GMAW-P process. A single input and single output system is established with ΔU as system output and base current as system input for the weld penetration depth control. The static model between the input and output of the system shows that the weld penetration depth control system has nonlinearity, which can be described by the Hammerstein model with the interference. The recursive least square method is added in classical predictive control algorithm, which is established based on the Hammerstein model, to identify the system model parameters online and to achieve adaptive control of the weld penetration depth. The control algorithm simulation results and the real time welding experiments prove that the adaptive predictive control algorithm can well control the weld penetration depth in GMAW-P process. The effectiveness and adaptability of the control algorithm are verified by variable heat dissipation experiments.

Key words: Hammerstein model, adaptive predictive control, simulation, weld penetration depth control, GMAW-P

中图分类号:

TG409

王万东, 王志江, 胡绳荪, 薛坤喜, 赵冠成. 基于Hammerstein模型的GMAW-P焊接熔深自适应预测控制[J]. 机械工程学报, 2019, 55(19): 138-145.

WANG Wandong, WANG Zhijiang, HU Shengsun, XUE Kunxi, ZHAO Guancheng. Adaptive Predictive Control of Weld Penetration Depth Based on Hammerstein Model in Pulsed Gas Metal Arc Welding[J]. Journal of Mechanical Engineering, 2019, 55(19): 138-145.

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基于Hammerstein模型的GMAW-P焊接熔深自适应预测控制

Adaptive Predictive Control of Weld Penetration Depth Based on Hammerstein Model in Pulsed Gas Metal Arc Welding

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