Arc welding control system and method

摘要

The present invention provides an arc welding control system and method capable of simultaneously, sophisticatedly performing a weaving width control operation and a torch height control operation. Influence ratios (δw and δz) of influences of a torch height deviation (ΔPh) and a groove wall distance deviation (ΔPd) with respect to a manipulated variable (Δw) of a weaving width and a manipulated variable (Δz) of a torch height are set in accordance with a groove angle (θ) of a workpiece (5). A calculation unit (21) calculates the manipulated variables (Δz and Δw) of actuators (13 and 14) regarding the torch height and the weaving width such that the influence ratios (δw and δz) become large as the groove angle (θ) becomes large.

主权项

1. An arc sensor control system for arc welding for obtaining satisfactory beads in a groove of a workpiece that is a welding target, the arc sensor control system comprising:
an actuator configured to cause a welding torch to track a weld line of the workpiece by causing the welding torch to move in a direction of the weld line of the workpiece at a specified torch height while causing the welding torch to move in a cyclic manner in a width direction of the groove of the workpiece with a specified weaving width; a sensor configured to detect a welding current or an arc voltage; a calculation unit configured to
obtain from the welding current or the arc voltage a value corresponding to a groove wall distance indicating a horizontal distance between the welding torch and the workpiece at a weaving end portion and a value corresponding to the torch height,calculate a difference between the value corresponding to the groove wall distance and a target value and a difference between the value corresponding to the torch height and a target value,calculate a manipulated variable of the actuator regarding the weaving width using a groove wall distance deviation that is a deviation of the value corresponding to the groove wall distance from the target value, a torch height deviation that is a deviation of the value corresponding to the torch height from the target value, and a first ratio that is a ratio of a degree of influence of the torch height deviation on the manipulated variable of the actuator regarding the weaving width to a degree of influence of the groove wall distance deviation on the manipulated variable of the actuator regarding the weaving width, andcalculate a manipulated variable of the actuator regarding the torch height using the groove wall distance deviation, the torch height deviation, and a second ratio that is a ratio of a degree of influence of the torch height deviation on the manipulated variable of the actuator regarding the torch height to a degree of influence of the groove wall distance deviation on the manipulated variable of the actuator regarding the torch height; and a control unit configured to control the weaving width and the torch height based on the manipulated variable regarding the weaving width and the manipulated variable regarding the torch height, wherein: each of the first and second ratios is set so as to increase as the groove angle increases.