Centralized controller device of embedded crawling robot welding system

Abstract

The invention discloses a centralized controller device of an embedded crawling robot welding system. The centralized controller device is characterized by comprising a processor, and a conversion circuit, a power supply circuit, a storage circuit, an interface circuit, a communication circuit, a digital quantity input circuit and a digital quantity output circuit which are respectively connected with the processor. According to the centralized controller device for the embedded crawling robot welding system, a heterogeneous multi-core chip is adopted, the inter-core communication speed is high, the anti-interference capacity is high, the size is small, the cost is low, expansion interfaces are rich, and the requirement for cooperative control with multiple devices in a crawling robot welding occasion is met. Welding parameters can be adjusted in real time through the centralized controller device, the welding process can be controlled, the working efficiency can be improved, the linear active disturbance rejection controller is additionally arranged in an arc voltage loop, the robustness of the embedded crawling robot welding system is improved, and the welding seam forming quality can be improved.

Description

technical field [0001] The invention relates to the technical field of intelligent welding control, in particular to a centralized controller device for a welding system based on an embedded crawling robot. Background technique [0002] In the field of crawling robot welding, the site often needs to control multiple devices at the same time, such as welding power supply, crawling robot, wire feeder, touch screen and other equipment, which involves the coordinated control of multiple devices. In the selection of the centralized controller platform, a multi-controller combination is adopted. For example, in the traditional PC as the upper computer control, because it is not designed for the industrial environment, the welding environment often generates a lot of electromagnetic noise, which affects the reliability of the PC. The disadvantages of large volume and high cost. In addition, in the welding of complex curved surfaces, there is a certain degree of unevenness in the c...

AI Technical Summary

Problems solved by technology

In the selection of the centralized controller platform, a multi-controller combination is adopted. For example, in the traditional PC as the upper computer control, because it is not designed for the industrial environment, the welding environment often generates a lot of electromagnetic noise, which affects the reliability of the PC. Large size, high cost Disadvantages

In addition, in the welding of complex curved surfaces, there is a certain degree of unevenness in the curved surface, which causes the distance between the welding torch and the base metal to change, affects the stability of the arc voltage, and affects the quality of the weld. The comprehensive effects of electricity, heat, force, etc. are complex physical and chemical processes, with strong interference, strong nonlinearity and a large number of uncertain factors, resulting in traditional PID controllers often unable to guarantee the quality of weld formation

[0003] In the prior art, the combined controller of ARM upper computer and DSP lower computer is used for the control system of welding robot (based on the design of embedded welding robot control system[J] .Combined Machine Tool and Automatic Processing Technology, 2017(01):89-91+94.), the ARM upper computer and DSP lower computer use RS232 circuit communication. Due to the multi-controller platform, two sets of minimum system circuits are required. The hardware The circuit is complicated, and the communication rate between different controllers is low, it is difficult to meet the real-time performance of the welding process

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