A method of joint control of seam tracking and welding quality was proposed by using an ultrasonic sensor for measuring welding penetration and electric arc sensor for seam tracking. The electric arc sensor was gotten of the welding deviation information and ultrasonic sensor was gotten of the welding penetration information. Then transformed the gotten penetration information to deviation information, using the fusion algorithm of combination of optimal weight and recursive least square algorithm to process deviation information of seam tracking gotten by the two sensors, the accuracy of seam tracking could be improved effectively. By inputing the fused seam tracking information and welding penetration information into fuzzy controller with threeinput and twooutput, inspecting the welding quality online is realized, improving accuracy of seam tracking at the same time.
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周文博,刘广瑞,田欣,郭珂甫.电弧传感器和超声波传感器信息融合在焊接中的应用[J].机床与液压,2016,44(15):19-22. . Application of Electric Arc Sensor and Ultrasonic Sensor Information Fusion in Welding[J]. Machine Tool & Hydraulics,2016,44(15):19-22