航天推进技术研究院主办
[1]杨瑞康,张勤练,周 舟,等.推力室外壁机器人自适应焊接控制研究[J].火箭推进,2019,45(01):66-72.
YANG Ruikang,ZHANG Qinlian,ZHOU Zhou,et al.Research on robot adaptive welding control of thrust chamber outer wall[J].Journal of Rocket Propulsion,2019,45(01):66-72.
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YANG Ruikang,ZHANG Qinlian,ZHOU Zhou,et al.Research on robot adaptive welding control of thrust chamber outer wall[J].Journal of Rocket Propulsion,2019,45(01):66-72.
推力室外壁机器人自适应焊接控制研究
《火箭推进》[ISSN:1672-9374/CN:CN 61-1436/V]
卷:
45
期数:
2019年01期
页码:
66-72
栏目:
工艺与材料
出版日期:
2019-02-28
- Title:
- Research on robot adaptive welding control of thrust chamber outer wall
- 文章编号:
- 1672-9374(2019)01-0066-07
- 关键词:
- 液体火箭发动机推力室; 机器人焊接; 数值模拟; 自适应控制
- Keywords:
- thrust chamber of liquid rocket engine; robot welding process; numerical simulation; adaptive control
- 分类号:
- V463
- 文献标志码:
- A
- 摘要:
- 针对推力室外壁焊缝坡口进行机器人焊接控制的研究,并基于主动式激光传感器获取坡口参数,通过建立坡口-参数-焊缝的模型来实现推力室外壁的自适应焊接,从而保证推力室焊接质量的一致性。在“静态”研究的基础上,进行推力室焊接过程“动态”坡口结构参数与工艺参数最优匹配的研究,建立了推力室外壁坡口自适应焊接参数模型。结合模糊控制算法搭建了焊接自适应控制系统,完成了推力室模拟件的焊接试验,验证了模型与自适应焊接系统的适用性。针对液体火箭发动机推力室专用S-06,1Cr21Ni5Ti等材料建立了热丝TIG焊接参数计算模型,可覆盖深度5～12 mm的推力室对接坡口。在SIMULINK平台下针对控制响应速度优化了焊接自适应控制系统的调节因子。自适应试验件焊缝熔合良好, X射线检测合格,强度均高于母材强度的90%。
- Abstract:
- The robot welding control is studied for the weld groove of thrust chamber outer wall. Based on the acquired groove parameters with the active laser sensor, the adaptive welding for thrust chamber outer wall is achieved and the welding quality for thrust chamber is guaranteed by building the models of groove,parameter and welding. On the basis of “static” studies,the “dynamic” control of the process parameters is studied and an adaptive welding parameter model is established for the groove of outer wall in thrust chamber. Furthermore,the welding adaptive control system is established combined with the fuzzy control algorithm and the welding experiment is accomplished for a thrust chamber simula-tor, which verified the applicability of model and the adaptive welding system. A parameter calculation model of hot wire TIG welding is established for the materials such as S-06 and 1Cr21Ni5Tiin the thrust chamber of liquid rocket engine, which can cover the thrust chamber joint with a depth of 5～12mm. The adjustment factor of the welding adaptive control system is optimized for the control response speed under the SIMULINK platform. The welds of the test joint are well welded, which passes the X-ray examination, and the strength is higher than 90% of the base metal.
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相似文献/References:
[1]史 锻,胡小平,于 萌,等.CBR方法在液体火箭发动机推力室设计中的应用[J].火箭推进,2015,41(03):39.
SHI Duan,HU Xiao-ping,YU Meng,et al.Application of case-based reasoning method in
design of thrust chamber of liquid rocket engine[J].Journal of Rocket Propulsion,2015,41(01):39.
备注/Memo
收稿日期:2018-05-07
基金项目:国防科工局推广项目(JSCG2016203B003)
作者简介:杨瑞康(1993—),男,硕士,研究领域为自动化焊接技术
更新日期/Last Update:
2019-02-20