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Welding is an important operation in manufacturing processes and it can represent a highly relevant amount of production costs, depending on material workpieces and required weld quantity. In mechanised and robotised welding processes, robot's travel velocity is an important parameter, which requires a proper regulation to obtain a good quality for weld beam. Then, in this work, a nonlinear model...
The robotic welding processes have been highly widespread in manufacturing industries due to large-scale production. An area where these processes are widely applied are shipyards, where there are necessary hundreds to thousands of kilograms of weld by hour. However, systems that operate in open-air environments are vulnerable to sundry disturbances, noises in measures, as well as possible unavailability...
This work shows three control techniques applied individually on velocity control of a welding robot. The system transfer function is found by bench tests and pole allocation method. The control strategies proposed are: Proportional Integral Controller, Pole Place Control and Model Reference Control. The techniques were designed and simulated to compare its performances acting under same situations.
A way to impose a desired behaviour in a system is to reallocate their poles, a well-known technique for this is the Pole Placement Control. In this work, it is made a performance comparison between two state observers for state feedback of this controller: an classic state observer and a proposed alternative which is based on State Variable Filter. This alternative filter improves robustness to the...
The Pole Placement Control is a control strategy to reallocate poles of a system forcing a desired behaviour to it. The technique is established on states feedback backed by a gain matrix. States are estimated when they are not directly available. Then, in this work a pole placement control based on Discrete Kalman Filter, in discrete time, for feedback states was applied over a linear welding robot...
Welding is an operation that aims to join two or more pieces, holding that on combination of these parts there will has no discontinuity of physical, chemical and metallurgical properties for its use and performance. This work deals with the modeling of this system. For this, two models are presented: one represents the dynamic of drop formation on electrode tip and the second model represents mass...
This article presents a performance comparison between two state observers in a pole placement control (PPC). The first is a classical full order states observer and the second observer is proposed in this work, which is based on a State Variable Filter (SVF). A inverted pendulum on movable base was the system chosen to accomplish performance comparison of the state observers. Simulation results are...
Electric arc welding is a complex task that demands a high degree of control in order to meet the international standards for fusion welding. We present a Vision-Based Measurement (VBM) system and evaluate how different conditions and algorithms impact the measuring of beveled edges. The proposed system integrates hardware and software to image the welding plates using a single CMOS camera as visual...
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