Towards a Uniform Welding Quality: A Novel Weaving Welding Control Algorithm Based on Constant Heat Input

Hong Lu; Zidong Wu; Yongquan Zhang; Yongjing Wang; Shu Liu; He Huang; Meng Liu; Shijie Liu

doi:10.3390/ma15113796

Towards a Uniform Welding Quality: A Novel Weaving Welding Control Algorithm Based on Constant Heat Input

Hong Lu, Zidong Wu, Yongquan Zhang^*, Yongjing Wang, Shu Liu, He Huang, Meng Liu, Shijie Liu

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

The weaving welding process is a key method used to improve the welding quality in multi-layer and multi-pass welding processes using robots. However, the heat-input fluctuation in the weaving welding process restricts its development. In this paper, we developed a novel weaving welding control algorithm to maintain a constant weld heat input through velocity adaptive planning. First, the heat consumption during the weaving welding was modeled to describe the influence of weaving parameters on the weld heat input. Then, based on the obtained relationship between the weld heat input and the weaving parameters, a velocity-adaptive trajectory planning strategy was proposed by leveraging the transformation matrix derived from the relationship between the workpiece and the robot co-ordinate systems. The simulation and experimental results show that the proposed strategy can compensate for the weaving parameters to maintain a constant heat input based on heat consumption and improve the quality of the robotic multi-layer and multi-pass welding process.

Original language	English
Article number	3796
Number of pages	19
Journal	Materials
Volume	15
Issue number	11
DOIs	https://doi.org/10.3390/ma15113796
Publication status	Published - 26 May 2022

Bibliographical note

Funding Information:
Funding: This research was funded by the R&D and Application of Welding Robot Related Technologies for Steel Components (Project No.: 20182h0190), ZBYY (Project No.: JZX7Y20220144100101) and the Group Project of Postgraduates of Wuhan University of Technology (Project No.: 35400000).

Publisher Copyright:
© 2022 by the authors. Licensee MDPI, Basel, Switzerland.

Keywords

constant heat input
multi-pass weld
velocity-adaptive trajectory planning algorithm
weaving weld

ASJC Scopus subject areas

General Materials Science
Condensed Matter Physics

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10.3390/ma15113796Licence: Creative Commons: Attribution (CC BY)

LuH2022TowardsFinal published version, 8.15 MBLicence: Creative Commons: Attribution (CC BY)

Cite this

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title = "Towards a Uniform Welding Quality: A Novel Weaving Welding Control Algorithm Based on Constant Heat Input",

abstract = "The weaving welding process is a key method used to improve the welding quality in multi-layer and multi-pass welding processes using robots. However, the heat-input fluctuation in the weaving welding process restricts its development. In this paper, we developed a novel weaving welding control algorithm to maintain a constant weld heat input through velocity adaptive planning. First, the heat consumption during the weaving welding was modeled to describe the influence of weaving parameters on the weld heat input. Then, based on the obtained relationship between the weld heat input and the weaving parameters, a velocity-adaptive trajectory planning strategy was proposed by leveraging the transformation matrix derived from the relationship between the workpiece and the robot co-ordinate systems. The simulation and experimental results show that the proposed strategy can compensate for the weaving parameters to maintain a constant heat input based on heat consumption and improve the quality of the robotic multi-layer and multi-pass welding process.",

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author = "Hong Lu and Zidong Wu and Yongquan Zhang and Yongjing Wang and Shu Liu and He Huang and Meng Liu and Shijie Liu",

note = "Funding Information: Funding: This research was funded by the R&D and Application of Welding Robot Related Technologies for Steel Components (Project No.: 20182h0190), ZBYY (Project No.: JZX7Y20220144100101) and the Group Project of Postgraduates of Wuhan University of Technology (Project No.: 35400000). Publisher Copyright: {\textcopyright} 2022 by the authors. Licensee MDPI, Basel, Switzerland.",

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AU - Liu, Shu

AU - Huang, He

AU - Liu, Meng

AU - Liu, Shijie

N1 - Funding Information: Funding: This research was funded by the R&D and Application of Welding Robot Related Technologies for Steel Components (Project No.: 20182h0190), ZBYY (Project No.: JZX7Y20220144100101) and the Group Project of Postgraduates of Wuhan University of Technology (Project No.: 35400000). Publisher Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland.

PY - 2022/5/26

Y1 - 2022/5/26

N2 - The weaving welding process is a key method used to improve the welding quality in multi-layer and multi-pass welding processes using robots. However, the heat-input fluctuation in the weaving welding process restricts its development. In this paper, we developed a novel weaving welding control algorithm to maintain a constant weld heat input through velocity adaptive planning. First, the heat consumption during the weaving welding was modeled to describe the influence of weaving parameters on the weld heat input. Then, based on the obtained relationship between the weld heat input and the weaving parameters, a velocity-adaptive trajectory planning strategy was proposed by leveraging the transformation matrix derived from the relationship between the workpiece and the robot co-ordinate systems. The simulation and experimental results show that the proposed strategy can compensate for the weaving parameters to maintain a constant heat input based on heat consumption and improve the quality of the robotic multi-layer and multi-pass welding process.

AB - The weaving welding process is a key method used to improve the welding quality in multi-layer and multi-pass welding processes using robots. However, the heat-input fluctuation in the weaving welding process restricts its development. In this paper, we developed a novel weaving welding control algorithm to maintain a constant weld heat input through velocity adaptive planning. First, the heat consumption during the weaving welding was modeled to describe the influence of weaving parameters on the weld heat input. Then, based on the obtained relationship between the weld heat input and the weaving parameters, a velocity-adaptive trajectory planning strategy was proposed by leveraging the transformation matrix derived from the relationship between the workpiece and the robot co-ordinate systems. The simulation and experimental results show that the proposed strategy can compensate for the weaving parameters to maintain a constant heat input based on heat consumption and improve the quality of the robotic multi-layer and multi-pass welding process.

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Towards a Uniform Welding Quality: A Novel Weaving Welding Control Algorithm Based on Constant Heat Input

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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