1、摘 要 - - I 摘 要 焊接是制造业中不可或缺的一种技术，为了提高焊接质量，提高生产效率， 节省人力，国内外焊接工作者一直在不断地采取各种方法进行研究，以实现焊 接过程的自动化。实现焊接过程的自动化关键是研制一套高效率的焊缝自动跟 踪系统。 焊缝自动跟踪系统由三部分组成：传感器、控制器、执行机构。焊缝跟踪 系统中传感器是最重要的组成部分，应用于焊缝自动跟踪系统中的传感器主要 包括：电子式、光电式、电弧式和电磁感应式。而在焊缝跟踪系统的主要技术 是焊缝的检测和控制算法。 本论文设计了一套光电传感器式焊缝自动跟踪系统， 该系统由光电传感器、 控制系统和执行机构等组成。 本文通过大量的实验，针对
2、光电传感器在材料表面状态不同时输出信号相 差较大而导致跟踪失败的现象，提出采用加权比较的信号处理方法，提高了传 感器的精度。 在分析前人工作的基础上，本文提出了一种传感器旋转摆动模型。经过理 论分析，建立了相应的数学模型，并在此基础上设计了符合系统要求的模糊控 制系统。仿真研究表明，该模型不仅简单可靠，而且跟踪精度高。采用模糊控 制技术，进一步提高了系统的稳定性与精度。 关键词：焊缝跟踪；光电式传感器；模糊控制； ABSTRACT - - II Abstract The technology of welding is absolutely necessary in manufacturing
3、. In order to improve the welding quality and efficiency, and to save the manpower, the students of the domestic and foreign welding study continuously adopt many kinds of methods to develop welding research so that implement the welding automation. The key of the realization of welding automation i
4、s that a highly effective welding seam automatic tracking system is studied. A welding seam automatic tracking system is that welding torch adjust warp along welding seam in order to the center of electric arc concentrate on the center of welding seam. A welding seam automatic tracking system mainly
5、 contains three parts: sensor、control system、effective machine, and the sensor is the most important part. At present, the study of welding seam automatic tracking system is also based on the sensors choice in domestic and abroad. Mainly includes: electric type sensor、 electric arc type sensor、elect
6、romagnetism induction type sensor. The main technology of the system are testing and arithmetic of control. In this paper, a seam tracking system based on photoelectric sensor which consisted of a photoelectric sensor, a sub-system of control and executive machine is studied. Because the output from sensor is great different under the different states of material surface, lots of photoelectric sensor failed to seam tracking. In this paper, a method of comparing the signal is put forward after a
