디지털 지능 GMAW 시스템의 개발 및 산업용 용접 로봇에 대한 그 응용
- Alternative Title
- Development of Digital Intelligent GMAW System and Its Application to Industrial Welding Robots
- Abstract
- Welding is vital to our economy. Welding is the most economical and efficient way to join metals permanently. It is the only way of joining two or more pieces of metal to make them act as a single piece. It is often said that over 50% of the gross product is related to welding in one way or another. An arc welding process is the most common way in many kinds of welding process to join pieces of metal. Especially, a gas metal arc welding (GMAW) process is an arc welding process with high quality. The GMAW process uses either semi-automatic or automatic equipment and is principally applied to welding for high production. In the semi-automatic GMAW process, a welder carries the welding torch of the GMAW system to create a welding process. In an automatic GMAW process, a robotic arm is substituted for a welder. A GMAW process is easier to apply to the automatic welding process than other welding processes. So the GMAW process is widely used in the industrial factory now. In this dissertation, a digital intelligent GMAW system and three kinds of robotic systems for welding application are developed. Firstly, a digital intelligent GMAW system is developed. Nonlinear controllers are designed for the developed GMAW system to achieve a stable welding arc. The GMAW process achieves stable welding arc when the output welding current and output welding voltage are kept constant during the welding process. To obtain these controllers, the developed GMAW system is considered as two subsystems such as a power supply (PS-GMAW) and an electrode wire feeder unit (WFU). The relationship between subsystems is constrained by the output welding current and output welding voltage. Based on modeling of two subsystems, a decentralized control method is applied for the developed GMAW system. A sliding mode controller is proposed to control the WFU and a proportional controller is proposed to control the PS-GMAW. Two decentralized controllers have to be designed so that the welding arc of the GMAW process stabilization and its amplitude tracking the setting value during the welding process. Secondly, three kinds of robotic systems for welding application are developed. A purpose of these welding robots is that they carry their welding torch along the welding line to satisfy the given welding task. In this dissertation, a slider type welding robot, a two wheeled slider type welding robot and a SCARA type manipulator mobile robot are studied. Then an active disturbance rejection controller, a kinematic controller, an adaptive sliding mode and a decentralized control method are used and applied for these welding robots. The stability of the systems is maintained based on the Lyapunov stability condition. Furthermore, the effectiveness of all proposed controllers and their applications are proven through the simulation and the experimental results.
- Issued Date
- 2007
- Awarded Date
- 2007. 2
- Type
- Dissertation
- Publisher
- 부경대학교 대학원
- Affiliation
- 부경대학교 대학원
- Department
- 대학원 메카트로닉스공학협동과정
- Advisor
- 김상봉
- Table Of Contents
- Chapter 1: Introduction = 1
1.1 Background and Motivation of Digital Intelligent GMAW System = 1
1.2 Background and Motivation of Industrial Welding Robot = 8
1.3 Outline of the Dissertation and Summary of Contributions = 9
Chapter 2: Development and Control of a Digital Intelligent Gas Metal Arc Welding System = 12
2.1 Introduction = 12
2.2 Fundamentals of GMAW Process = 13
2.2.1 GMAW = System13
2.2.2 Principle of Operation = 14
2.2.3 Power Source of GMAW System = 15
2.2.4 Characteristics of GMAW = 16
2.2.5 Process Requirements and Applications = 19
2.2.6 Safety = 22
2.3 Problem Statements = 24
2.4 Dynamic System Modeling = 25
2.4.1 Dynamic Model of WFU = 28
2.4.2 Dynamic Model of PS-GMAW = 30
2.5 Decentralized Controller Design = 31
2.5.1 Controller Design for WFU = 32
2.5.2 Controller Design for PS-GMAW = 34
2.6 Developed Digital Intelligent GMAW System = 35
2.6.1 System Components = 35
2.6.2 Description of the Control Panel = 37
2.6.3 Technical Data of the Digital Intelligent GMAW System = 42
2.6.4 Hardware Design = 43
2.6.5 Identification of Parameters of Transfer Function = 46
2.7 Simulation and Experimental Results = 48
2.8 Comparison of the Developed GMAW Systems with the Commercial GMAW Systems = 53
2.9 Conclusions = 56
Chapter 3: Application of Gas Metal Arc Welding Process to Industrial Welding Robots = 57
Part I: Active Disturbance Rejection Controller Design for Slider Type Welding Robot = 58
3.1.1 Introduction = 58
3.1.2 Modeling of Slider Type Welding Robot = 59
3.1.3 Controller Design = 61
3.1.3.1 Extended State Observer Design = 62
3.1.3.2 Active Disturbance Rejection Controller Design = 63
3.1.4 Simulation and Experimental Results = 63
3.1.5 Conclusions = 67
Part II: Control of Two Wheeled Slider Type Welding Robot = 68
3.2.1 Introduction = 68
3.2.2 Modeling of Two Wheeled Slider Type Welding Robot = 69
3.2.2.1 Kinematic Modeling of Mobile Platform = 70
3.2.2.2 Dynamic Modeling of Mobile Platform = 72
3.2.3 Controller Design for Two-Wheeled Slider Type Welding Robot = 75
3.2.3.1 Controller Design for Mobile Platform = 75
3.2.3.2 Controller Design for Slide-Torch of TWSTWR = 81
3.2.4 Simulation and Experimental Results = 82
3.2.4.1Hardware of the Whole System = 83
3.2.4.2 Measurement of the Errors = 84
3.2.4.3 Simulation and Experimental Results = 85
3.2.4.3.1 Simulation Results for the case of Fixed Slider Torch = 87
3.2.4.3.2 Simulation and Experimental Results for the case of Controllable Slider Torch = 89
3.2.5 Conclusions = 94
Part III: Control of SCARA Type Manipulator Mobile Robot = 95
3.3.1 Introduction = 95
3.3.2 Modeling of SCARA Type Manipulator Mobile Robot = 96
3.3.2.1 Modeling of Mobile Platform = 97
3.3.2.2 Modeling of SCARA Type Manipulator = 97
3.3.3 Decentralized Controller Design = 98
3.3.3.1 Kinematic Controller Design for SCARA Type Manipulator = 99
3.3.3.2 Dynamic Controller Design for Mobile Platform = 101
3.3.3.3 Chattering Phenomenon Elimination = 105
3.3.4 Simulation and Experimental Results = 106
3.3.5 Conclusion = 113
Chapter 4: Summaries and Conclusions = 114
References = 116
- Degree
- Doctor
- Appears in Collections:
- 대학원 > 메카트로닉스공학협동과정
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