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32TheFuzzyControlofCurrentWaveforminCO2WeldingWuAiguoLiTeyiHuangRixiangYuanHao(TianjinUniversity300072China)AbstractAccordingtotheweldingcurrentwaveformrequirementfromsuppressionofCO2weldingspatter,thedouble-modelfuzzycontrolstrategyisemployed,whichisalsotestinLICONLNinvertingwelder.Theresultapprovestheeffectivenessofthecontrolstrategy,andtheexpectedsuppressionofCO2weldingspatterisachieved.Keywords:CO2weldingFuzzycontrolSpatter1eeᡃḄVWᜓᢈᨵ¡⊤£ᙠ¤O¥¦§ᑴ⌼¨©ª«¬ᵫ®VW:zḄᵯᱥᳮ±²³´'µ@¶¤E·ᙳcᵨ¹ᓫḄ»ᡈcᵨ½¾mᑁVWÀᜧÂᑖÄḼÆ®⌮ᘤḄ¨ÈÉᳮÊ☠ឋḄẆbÌ⌮ᘤḄÍᔠᑴÏÐÑÊᡠÒC02VW:z{|᳛ÓḄÔ⚪Ö×ØᨵÙᑮ!ÚḄÛÜGHÝÞßàC02VW@A{|ḄÉGáÌcâᨵᦔᙢ ¬{|᳛Ḅᑴå᪷±ÛÜÔ⚪±ᦻçèp®HḄ~ EéêḄᑴ2ᳮëVWᵯ45Ḅì C02íîïðVèEéÓᦔ⁚ஹò²ḄVW¨©xó¤C02íîïðVô¨ᵯV⁚ᵯ1/231/3ᙠA@᳛☢C02VḄA@᳛ô¨ᵯVÓ132.5ö§ᡂ±¬÷cᵨ⌮mC02Vnᐸᦔ᳛~ÓGHC02íîïðVẆbèᓝᑖÝ⌕Ḅ$èC02V±úḄឋ²ÜZé{|ûüýWþÿ ⊤☢Ḅᐝᡂូᓄ ⌼ᡂᩞᧇḄ !"#$%&⚪()*+,Ḅ-⌕/⚪012ᦻ45167ᵨḄᵯ:;ᑴ=>1ᡠ@ᙠBCᑮEFḄGHIJKញMNOP(QRᵯ:STUVWXᙠYᑮ
33EFZ[\ᓽ^⚠`ḄGHaQRᵯ:Jᰚcᙠ⊤☢deḄᵨfgᵫijᑮᰚklPTUVWḄmn>1ᢓᑴVWḄC02ᵯ:ᳮu=@v>Fig.1TheidealcurrentfigureofsuppressionofC02welding3;ᑴᡠ;ᑴ(16ᐵ;ᑴ;ᑴᔠḄ;ᑴ,>2(;ᑴḄ᪀᪾>>2;ᑴ᪾>Fig.2Thesystemblockofdouble-modelfuzzycontrol£;ᑴ¤¥¦e§ᜧᓽ£IeIIEMI¥\EM¬;ᑴ¥eḄ®[`Ḅ;ᑴ¯+Umᡈ-Um,7+³´ឋḄᐵ;ᑴX£¦e⌲·TU¸¹⚜»Ḅ¼ᣚ®[\leiVEM`¥¿À+ÁÂᑗᣚ7+;ᑴ$᪵ᡃÆÇÈÉÊijiÁËÈÌÍÎϸlP¯ÐÑÒḄÏ⁚ÔÕ.☢ᡃÆÖ⌕×Ø;ᑴḄÙÚ;ᑴiÁḄ᪾>>3>3;ᑴ᪾>Fig.3Thesystemblockoffuzzycontrol
34\1`✌ᐜÞß;àáḄâ5ãᦪᵫåæ¼ᣚᡂ\2`çᵨèéàÀ+êᳮë5#ìâ5;ᑴ\3`Þ$íî¼ᣚᡂåæàß;àáÀ+ÏᙠC02EFijiÁðᑖ¬òóôEFô᪷ö⌕÷ᙠòóôøᵨឤú;ᑴìᶍᙠEFôøᵨü▤ôᑨÿ ᑨ⚠ᑨḄឤᵯᓣ᳛ᑴḄᶍᙠ ᐭḄ !"ᵯᵯ#,ᵯ#%ᓄ᳛ /( ")*ᵯIᵯ%ᓄ᳛di( /01ᵨ !ᓰ45%ᓄ!E*9☢Ḅ!0;ᓄ"<-6,+6@AB%ᓄḄCD!E9<-6,+6@AB%ᓄḄCD!ᑖ"GH7K“Mᜧ” PD(“MR" PM("MU" PSK“W” 0(“YU” NSK“YR” NM(“Yᜧ” NL\]^7_ `aḄbc"<-6,-5,-4,-3,-2,-1,0,1,2,3,4,5,6@hi%!ḄjklᦪnopqᵨḄMᑖslᦪ «=exp35ifE=EandC-CjthenU=%,((i=1,2,…m/=1,2,R)wR——¦!Ḅ▭¨x\ᐸz{¨xOḄ©}e=x-xOḄ `a——©}%ᓄ᳛Ḅ `a—— /ᑴ!Ḅ `a^ ᩩ«h¬G®"t_ ᐵ°±«=U(£iXC)xt/,(1)y᪷º ᦪyᳮbᜐ“X”¼½Ḅ¾¿ᵫHwÁ¿M(x,y>z)=cflmu«4.U(x)nptcj(y)]Clpiii(«)ICh/si(Y£X,VyGKV26Z)ফ᪷º ᳮᔠᡂÑᑣ /Ḅᑴ!^"U-(ExC)Ô(3)ᓽÖMz)=/ᳫ(Ø),z)n[Ú(/)[?NM”](4)^᪵ÝÞß ᐭàஹâ /ᡃpãG᪷ºäÑᑣ9å]Ḅ ᐵ°±æ/ᩭ(èAÝ°éḄ ᐵ°±"ÞßᡃpãG᪷º ᐭᳮஹ*êæ/ /ᑴ!᮱ ᑨì1ᵨí~îᩗðᙳòᐸô!umaxᵫHwìÁ
362ᡝ(tti),UiUa=--------(5)0ভᵫC02÷øùûḄø(100Hzýþ),ê\ᐸÿ ᑴḄᓝus,ᙠᙢᳮḄ▣ ᑨᙠ!"Ḅ#$ᩩ$&'()*Ḅ+ᡠ-ᙠ./ᜧḄ12 3456Ḅ7Ạ9+:ᑮ<= ᑴ⊤+⊤2ឤA ᑴḄ ᑴ⊤+⊤3C▤EᑨFḄឤᵯH9ᓣ᳛ ᑴḄ ᑴ⊤L᪵+ᙠ ᑴ/NOP⌕RSᐭᓄ+./VᓫḄX⊤YZ[*:ᑮ ᑴ+\]^ ᑴḄ_ឋ⊤2ឤA ᑴ ᑴ⊤Tab.2ThefuzzycontroltableofconstantvoltagecontrolciVU-6-5-101…56V-60.10.080.020.010.0080.0010-50.080.080.020.010.00800.001•••… • -10.020.010.0020.0010-0.006-0.00800.010.0080.0010-0.001-0.008-0.01C020.0080.0060-0.001-0.002-0.01-0.02…………•50.0010-0.008-0.01-0.02-0.08-0.08600.001-0.008-0.01-0.02-0.08-0.1⊤3C▤EᑨFḄឤᵯH9ᓣ᳛ ᑴ ᑴ⊤Tab.3ThefuzzycontroltableofconstantcurrentrateofclimbwiththestagedistinguisheddI~6-5~10C0256U
37I-60.150.10.040.010.0080.0010-50.10.10.020.010.00800.001•……-10.040.010.0020.0010…-0.006-0.00800.010.0080.0010-0.001…-0.008-0.0110.0080.006•0-0.001-0.002-0.01-0.04……>50.0010-0.008-0.01-0.02-0.1-0.1600.001-0.008-0.01-0.04-0.1-0.154 ᑴḄ3st34uᵨwxzᵯ{|}~ḄINVERTECTMV300-1+ᐸᳮ᪾4ᡠt2Ḅ ᑴ'ᙠ4Ḅ ᑴ᪾9+RᵯḄ ᑴᑖᵨMCS-8098ᓫᱏẆᑴḄ ᑴᵯ+Sᐭ¡ᵯ¢ᵯA £ᵯH+S¤ ᑴUG3847¨5ªḄᵯA«¬+./⁚S¤ᓰ°±ᩭ ᑴ+³Ḅᐸ´ᑖᑣᨚ(ᦋ¸+-¹4t ᑴºᫀḄ)ឋ £ᦔ½Iª«ḼIT®῁—τ—¤9ᵯᡝ⊈w|ᵯᑜᓰ´µ|[axr.ay\§6¨FI—I§©/ᡝW—4INVERTECTMV300-1C02£Ḅ ᑴ¾᪀᪾Fig.4ThecontrolsystemblockofINVERTECTMV300-1welderwhileC02weldingt34⌱ᵨMCS-8098ᓫᱏ+ᦋᵨÇÈᘤ-ÇÈᘤ¾᪀+ÊË^YZÌÍ ᦪÏÐᔢ*Ò+uᵨ12MᨔÔ+Õᩩᢣ×ḄᨬÙlusÚ+MCS-8098ᐹᨵÞ=.⍝Ḅᑁ10áA/Dåᣚᘤ+uᵨ12MᨔÔ+u᪵ᕜè22us,éêt ᑴ+ᵫêᨵ<=⌕uì+Õ= ᑴᕜè44ns,í562Ḅ ᑴ⚣᳛7tïðD/AuᵨDAC0832,ñ344]+*òóôtḄ⌕õ
38ñ56¾½ 34+éê÷ ᑴḄøù⌱úuᵨû(1)ü¢/NḄឤA ᑴ+ᵯ¢ᵯAḄ ᑴøù'±3V(2)Ù/NḄC▤EᑨFḄឤᵯH9ᓣ᳛ ᑴ+£ᵯHḄ ᑴøù'±30A(3)S¤ ᑴᓰ°±Ḅ«¬Ḅ ᑴøù'±0.5V„ ᑴ⊤P'ᙠ56¾½⊤2 ⊤3Ḅ7Ạ9ý9^Õ=ᦪ+þᓄ(ᜧ+Lÿ 55ᡠᑴEC02Ḅᵯᵯ ᵯ !Ḅ"᯿ᱏ%6&'()*ᜧḄ"᯿ᱏ(-ᵯ %.ᵯ )ᐸ1%23ᑮ56 7⚠!ᡂ:;ᑴ<ᨵ'(>?;BC23DEFᑴ⚣᳛ᨵᐵ%JEK%▭!CMNOPQR'S%ᙠ▭UV1%WXᢓᑴᵯ Ḅ>?0.24ms,7⚠!ᡂ:ᢓᑴᵯ Ḅ>?0.3msᵫ!Ḅ[\JE]%&ᑴ^ᵨᙠ▭ḄC02 )1`JaḄ:5ᑴ.Ḅᵯ ᵯ !Fig.5Thecurrentandvoltagewaveformswiththefuzzycontrol6ᵯ ᵯ !*ᜧFig.6TheamplifiedwaveformsofcurrentandvoltageRMNḄb⊭`deC02)1Ḅfg᳛%hijkᫀḄᨵᦔ
39ឋ%oE.[\pᙠq'r.ptuv81.2mm〈txy3.4m/minz{ᵯ 20Voᵨq'|⌮~a %ᵨafg᳛Ḅ23F[\%⊤4⊤4fg᳛[\Tab.4Thecomparisionofspatterratio(%)ᑴkfg᳛1fg᳛2fg᳛3ᙳᐭᑴ4.34.14.24.2ᐭᑴ2.122.22.1ᵫJEK%RMNᑮ⚜PḄḄ%[deC02 )1Ḅfg᳛`ᓝᑖᨵᦔḄ6'ẆḄMPᑴᙠC02⌮~1Ḅᡂ^ᵨ%hi[ឋ )%ᑴḄ^ᵨ`ᨵᦔḄ%`ᨵ5⌶ḄḼ¡¢ᵯḄឋ£¤ ᑴ¥Ḅ¦ᦋ%ᑴᦔ¨©ª«ᗐᵫᩩ¢ᡠ▲%R¯`Ḽ°ᑴᵯ !Edefg᳛%[ᐸ± z²³k☢µo©¶Ḅ·¸%¹◤'Ẇ{ὅ¼½pᔺ᰿À1954Á6%1982ÁÂÃᜩÅᜧÆÇÈᓄU%ÊᦟᣴஹắÏ6ÐÑ%ᜩÅᜧÆ-ÓÔÕÖ×ØÇÈᓄÆ▾▾Ú%Û⌕ẆkᔣᵯÞᵯß⚞á1᳛~ᣚᘤäᡫ᪀FᑴçᶍஹᵯßéÈUVḄᑴçᶍFᜧêḄᑴ³WuAiguowasbornin1954,graduatedatAutomationDepartmentofTianjinUniversityin1982.Atpresent,heisthetutorofmaster,associateprofessor,thedeanofTianjinUniversity-HoneywellHomeandBuildingControlCollege.Hismainresearchareasaretopologyandcontrolstrategyofpowerconvertersinthetieldofpowerelectrics,thecontrolstrategyofpowertransmissionsystemsandthecontrolofintelligentbuildings.{ὅᓫìpᜩÅᜧÆᵯíÇÈᓄCîz)Æ▾300072ïὃᦻò1StavaEK.Thesurface-tension-transferpowersource:Anewlow-spatterarcweldingmechine.WeldingJournal,1993(1):25~292UshioMasao.Recentadvancesinweldingpowersystemforautomatic
40welding.Weldingintheworld,1994,34(9):185~1913SoWingchi.DevelopmentofafuzzylogiccontrollerforDC-DCconverters:Design,compute,simulationandexperimentalevaluation.IEEETran.PE,1996,14,-᠗./0123ᑴᳮ67ᐸ9ᵨ,ᓅ<=ᵯ?@AB᱐DE1987CO2ᵯGHIKLḄMATLABNOẆQ᤺⌕┐UVWKXYCO2ᵯGHZ[\ᙠ^_`aឋḄᱯdEeᵨfgh▭3ᑴ⚞kᑁ9ᵨᨬnḄMATLABopEqrs“GH⌮vᘤx`aឋyz”Z[Ḅᦪ}NO1Y1YᔠEஹᨵᦔᙢ⊤sᔜ⁚ḄᱯឋKZ[NOᙢẆQsCO2ᵯGHIKLEBsyzᵯஹHᵯvᓄḄNOVWKXYCO2ᵯGHZ[Ḅ☢9ᵨ¢h£Hannover-XIIYHKLIᑖ᪆¦ᡠ¨©Ḅª«ᦪ¬®¯0NO°±²^³´µ¶Ẇᑴ@·〉9ឋ¹ºḄ»YGH⌮vᵯ¼ᑖ᪆`aឋGHZ[ḄIKL½¾sx¿ÀᨵÁḄ@ᐹᐵÄÅ=C02ᵯGHMATLABNOGH⌮vᘤ`aឋyzSimulationStudyonDynamicProcessofC02ArcWeldingwithMATLABYuWensong,XueJiaxiang,HuangShisheng,ZhangXiaonan,ZhangJunhong(SouthChinaUniversityofTechnology.Guangzhou)ChengTaobo(GuangdongAcademyofScienceAutomationCenter,Guangzhou)Abstract=BasedonintrinsicnonlinearcharacteristicsofC02arcweldingwithshortcircuittransient,thedigitalsimulationmodeforthesystemconsistedofinverterandnonlinearloadisdevelopedwithMATLAB.Thesimulationmodedirectlyindicatesthefeaturesofthesystembymeansofvisualmodelinggraph.WaveformofmainstatevariablesindynamicprocessofCO2arcweldingisgivenbysimulation.AnditisverifiedbyexperimentresultswhichareobtainedfromtheanalyzerHannover-XIImadeinGermany.MATLABisapowerfultoolforimprovingperformancesofarcweldinginverter,anditisanewmethodforquantitativeanalysisinthe
41dynamicprocessofnonlineararcweldingsystem.KeywordsCO2arcwelding,MATLABsimulation,arcweldinginverter,nonlinearload0ÆÇCO2ÈÉÊËᵯGHÌxÍÎᡂ^ÐIᓄᡈÒÐIᓄḄÓᦔHÔGH⌮vᘤᐹᨵIÕ9Ö×ØஹÙÚᣚᦔ᳛ÓÝ᳛Þ×ᜧàá℉¹dEãᐸ〉ᵨäVWKXYC02ᵯGH@·¶såæ½ÓçGᡂÝ᳛ஹèéHêëஹᦋíKLîឋஹ3ᑴHïᡂ7ðÎñòᢈô⌕õàö⚪EᙠC02ᵯGHZ[øùús1ûyzü✄ஹᵯ?ᵯᢙᘤஹÿᔠᱯឋᵯᑴᵨᢈ\1,2Wᢈᐰ┐ C02ᵯ !ᙠḄ$%&'ឋ()*Ḅᨵᦔ-./▭123ᑖ᪆6 Ḅ$%&'ឋ⌼ᡂḄ9:;;&;<=Ḅ>?/ᨵ@⌕BCDḄᨵᦔEᐹ/ᒹH ⌮JᘤḄ C02ᵯ LM23NẆQRSTUVWNXYLZ[\]/^ᐸᵫ“bc”eᔣ23ᑖ᪆Ḅg⌕hi\3WC02ᵯ NjLMRSTUVẆQ◤⌕lmnop⚪r(1)st⊤v $%&'ឋḄᦪXx y(2)⌱|Si}☠ஹ(ḄUV/RᐵUVjMATLABNᑴ RSTR⚞ᨬᨬḄ/ᐹᨵ▣Sஹᑴஹᦪᜐᳮஹᜐᳮ¡¢£¤¥ᜧ3§ᝅEᐹ©/ x «ᐭUVEᐹ\4W>?/®}C02ᵩ NjḄUV1UVx Ḅst1.1&'ឋ°±ḄUVx C02ᵯ Njᨬ²³Ḅᱯv´ ▤¶▤¶·¸LM/ᙠ?n▤¶1°±ᱯឋ᪷$º»r(1)½ᵯ ¾¿L>0À/jᜐÁ´ ▤¶᪷ᵯ ᱥᳮᳮÃbcᦪ\5,6W,°±ᵯÄU=R1xl+XxL+A,ᐸ1ᦔᵯÅR1=0.035/°±ᵯ1=50Æ500A,ᵯ ḄᵯÇÈ¿X=1.6V/mm,;3A=18V(2)½ᵯ ¾¿L=0À/jᜐÁ▤¶°±ᵯÄU=R2xLᐸ1/ᦔᵯÅR2=0.01QÉÊ&'ឋ°±Ḅᱯឋ}ᵨ1aᩭ⊤Ìᵫ}Í/ᙠ´ ▤¶/⊤v°±ÎḄÏᙠÐ☢ÉNyᙠ▤¶/6ÏᙠÒÓÐ☢ḄZᩩ'¶ÉN½n▤¶·¸LMÀ/⊤v°±ÎḄÏÕ\Ö×ØÙᵨMATLABRḄ&'ឋ°±ḄUVx 1bᡠÌᐸ1ᵫ«ᐭÛLஹI,ÝÞ⁚XஹR1,;3⁚E,à⁚Sumá«âÛUáãᔠḄhä⊤åæ´ ▤¶Ḅ°±Îhjᵫ«ᐭÛI/ÝÞ⁚R2á«âÛUáãᔠḄhä⊤åæ▤
42¶Ḅ°±Îhj½n▤¶·¸LMÀ/⊤v°±ÎḄÏ\Ö×ØḄj}áçᩩ¡¢ᙽSwitchᩭé?ᩩ¡¢ᙽ⌱|Éç⍝ᡈìç⍝ᵫ ¾J3Lm2(a)Nonlinearload(b)Sinvdationnrde1&'ឋ°±ḄUVx Fig.1Simulationmodefornonlinearload1.2 ¾JᓄḄUVx 2a⊤Ìæ C02ᵯ 1 îLïÀðtḄNJᓄjᙠñòóð,ᵯ ¾¿õö×Ø÷ᨬᜧøᙠ´ ▤¶/ ¾ïḼúáឤ2ü¿〈L(⌲ÿ (a)Changeofarclength(b)Simulaucn'male2ᓄḄFig.2SimulationmodechangeofarclengthḄᓄ2bᡠᐸSwitchᩩᙽ ᨵ ᐭ",$ᙽḄ%&ᐭ'(ᩩ)*"+%&ᐭ"ᜧ-ᡈ/-0,ᑣSwitchḄ1"/-%ᐭ" ᔲᑣ SwitchḄ1"/-% ᐭ"ᵫ45 6789ᘤSignal;1Ḅ <=>?@ConslAB CDSwitchᙽEFG=HIJK▤MḄᓄ=N?@Cons2DSwitchᙽ'ᵨHIJPQ▤MḄ=N1.3CO2ᵯS⌮ᘤḄ31UVᱯឋCO2ᵯS⌮ᘤḄ(UZᓄᑖ᪆]^ ᡃ`aS⌮ᘤbᵯQᒹdḄᐭfg=ஹIGBT⌮ஹi⚣kᘤl1f/mᑖnᔠ/ᦔ(qfᵯkUs>ᓰstDuvwᵫvxyz{⁚Multᩭ~ᡂfᘤḄ1ᵯk>GᵯkU
43'ᵨ-{⁚1/Ldlᑖ{⁚Inti,UqfᵯᢙᘤḄ1ᵯfIᐸ Ld(qfᵯᢙᘤḄᵯ@mᑖS⌮ᘤbᵯQ/ᦔ^ḄN⊤3⌮ᘤḄFig.3Simulationmodeforinvertere/-;ᵯkUg>GᵯkUḄCD{⁚Kp~ᡂtyz {⁚Kilᑖ{⁚Int2~ᡂᑖyzᐸ+ᵫl{⁚Sum2uBHUᓰstDḄᜧmᑖVᱯឋS⌮ᘤᑴᵯQ/ᦔ^ḄN⊤2+>ᑖ᪆ឋGஹᓄlS⌮ᘤ mᑖḄ¡¢ᐭl1"£ nᔠHᡂC02ᵯS¤]^Ḅ 4ᡠ4C02ᵯS¤]^ḄFig.4SimulationmodefordynamicprocessofC02arcweldingᵨMATLAB¥¦ 4§¨ᙢª«¬=ᘤᩭq®¯*°±²@³´µᓄḄ]^ ¶4§·ᵨ¸¹ºa»¼Ḅ+ᵨN⊤½ ¾+¿Àᙳஹ/ᦪÃᜐᳮ5aஹbᑖÆ(GᵯkஹSᵯf³´µᓄḄ=Nᵫ45 ᙠPQÈɵ GᵯkÊᯠᓣÍᨬᜧ Sᵯf¶ᑮ½ᨬᜧᙠK▤M ⌮ᘤ1fᵯkÐ-Kᵯk 1qfᵯᢙᘤÑÒÓ Sᵯflᵯᵯkᙳ ᙠKÈɵ GᵯkÊᯠÔÕᑮᨬ Sᵯf¶ÖᢝᨬᙠPQ▤M ⌮ᘤ1fᵩki-Kᵯk 1q
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