Real-time sensing and control of GTAW penetration based on molten pool oscillation

基于熔池振荡的GTAW熔透实时传感与控制 Real-time sensing and control of GTAW penetration based on molten pool oscillation 顾玉芬 GU Yufen 1 2 first-author 席保龙 XI Baolong 1 李春凯 LI Chunkai 1 2 石玗 SHI Yu 1 2 代悦 DAI Yue 1 丁彬 DING Bin 1 兰州理工大学省部共建有色金属先进加工与再利用国家重点实验室 兰州理工大学省部共建有色金属先进加工与再利用国家重点实验室 State Key Laboratory of Advanced Processing and Recycling of Non-ferrous Metals,Lanzhou University of Technology State Key Laboratory of Advanced Processing and Recycling of Non-ferrous Metals,Lanzhou University of Technology 兰州理工大学有色金属合金及加工教育部重点实验室 兰州理工大学有色金属合金及加工教育部重点实验室 Key Laboratory of Non-ferrous Metal Alloys and Processing of State Education Ministry,Lanzhou University of Technology Key Laboratory of Non-ferrous Metal Alloys and Processing of State Education Ministry,Lanzhou University of Technology 熔透控制是焊接过程控制领域的一个重要发展方向,其核心难点在于获取表征焊缝熔透状态的特征信息。针对传统熔透检测方法存在鲁棒性低、实时性差的问题,提出了一种激光光电转换方法。该方法可实现对GTAW熔池振荡频率的实时提取。利用熔池从未熔透到熔透的振荡频率的变化特征,设计了步进焊接条件下的熔透控制算法,对不同散热条件及不同错边量的工件进行熔透控制试验。结果表明:该测量方法能够实现对焊接过程中熔池振荡频率的实时传感,且控制算法对散热条件和错边量等因素具有较强的鲁棒性,控制效果良好,最终获得焊缝的正、反面熔宽均匀一致、连续性好。 Penetration control is an important development direction in the field of welding process control.Its key difficulty is to obtain the characteristic information of weld penetration state which is used to describe the penetration state of the weld.According to the problems of low robustness and poor real-time performance of traditional penetration detection methods,a laser photoelectric conversion method is proposed.This method can realize the real-time extraction of the oscillation frequency of the GTAW molten pool.Using the change feature of o scillation frequency of the molten pool from incomplete penetration to full penetration,a penetration control algorithm under step welding conditions is designed,and penetration control experiments are carried out on the workpieces with different heat emission conditions and different amount of weld offset.The results show that the measurement method can realize the real-time sensing of the oscillation frequency of the molten pool during the welding process,and the control algorithm has strong robustness to factors such as heat emission conditions and the amount of weld offset,and the control effect is good.The front and back sides have uniform melting width and good continuity. 激光光电法 GTAW 熔透实时检测 熔透控制 laser photoelectric method gas tungsten arc welding real-time detection of penetration control of penetration TG444.74 国家自然科学资助项目（51765037）;甘肃省基础研究创新群体（17JR5RA107） 2022-03-08 12 50