摘要
Tandemgasmetalarcwelding(T-GMAW)processshowsahighdepositionratethatuptothreetimesofthesingleelectrodeGMAW,sotheweldingspeedcouldbesignificantlyincreasedinthisprocess.However,themajorityofthisprocessapplicationsarebasedonthepre-programmedroboticwelding,whichdoesnotallowthemtotracktheseamreal-timeduringwelding.Rotatingarcsensor,sensingtheseampositionbydetectingthechangingofweldingcurrents,hasbeenwidelyadoptedintheautomaticrobotweldingprocess.Itisproposedinthispapertointegratetherotatingarcsensorwithatrailingtorchtodevelopanewapproachofrotatingarcleadtandemgasmetalarcwelding(RLT-GMAW)process.Thecharacteristicsoftheweldingcurrentsintheproposednewweldingprocesswerefirstlystudied,andthenaself-turningfuzzycontrolseamtrackingstrategywasdevelopedforthemobilerobotautomaticwelding.TheexperimentalresultsshowedthattheproposedRLT-GMAWprocesshadanexcellentseamtrackingperformanceandhighweldingdepositionrate.Evenifthereweresomeelectromagneticinteractionsbetweenthetwoarcs,thedeviationoftheweldingseamcouldalsobereflectedbythefluctuationoftheweldingcurrentsontheleadingarconcethecorrectweldingparameterswereselected.Basedonthedetecteddeviation,theweldingtrackingexperimentsshowedthattheproposedself-turningfuzzycontrollerhadagoodperformancefortheRLT-GMAWprocessseamtracking.
出版日期
2017年02月12日（中国期刊网平台首次上网日期，不代表论文的发表时间）
