Study On Welding-gun Inclination Detection And Wet Underwater Welding Seam-tracking System Based On Rotating Arc Sensor

Accompany with ocean exploitation and emerging of large amount of lake/port engineering, new requests are put forward to underwater welding technology. However, there is rather rare research works has been done in the field of underwater wet welding and welding-gun inclination detection based on rotating arc sensor around the world, Up to now, there is no relative report has been published either.An experimental system, which is used to study the underwater welding-automation and the detection of welding-gun inclination, has been established for the first time in our laboratory, the system is based on high speed rotating arc-sensor and work with flux core welding wire, the aim of our work is to realize the underwater seam-tracking and detection the welding-gun inclination in real time.The approach of calculation the current differences, which is obtained from integration of welding currents in two given areas, is adopted to determine the welding-gun horizontal bias and vertical bias. By means of using manifold digital signal process methods to perform on the noisy sampled signals, the stability,reliability and realism of digitals are greatly improved; Analysis on massive experimental data revealed that both the horizontal bias and vertical bias can all be clarified clearly by this way; Further more, a manipulating system is carried out, two kind of different manipulators are designed for two different control objects, they are the FUZZY controller and hybrid PID controller.The methods of first harmonic coefficient and artificial neural network are also be tried to find out the criterion of welding-gun bias, and corresponding results are obtained too.As for the welding-gun inclination detection, by help of theoretical analysis and great number of experiments in different states----the welding-gun in the middle of seam, in the left side of seam completely and in the right side of seam entirely, satisfied results related to different slop angle are acquired at last.An application software system with a user-friendly interface and comprehensive needed functions is developed by VISUAL C++, it works on a multi-task operation system and is suitable for welding both in-air welding and underwater welding.Massive experiments are carried out in the end to indicate that the system can trace various kind of curve line steadily and reliably, the welding-gun inclination can also be detected with an accepted precision.