Wire feeding adaptive adjustment method and welding system based on high-frequency MIG welding

Abstract

The present invention provides a wire feeding adaptive adjustment method and welding system based on fast frequency MIG welding; the method is: constructing an adaptive adjustment model, using V L and V H The arc voltage is divided into three intervals for each node, and a wire feed speed change function expression is set for each interval. The wire feed speed change function expression has adjustable parameters. The arc voltage detection value is obtained, and the interval in the adaptive adjustment model is determined to obtain the wire feed speed change, which is then adjusted to the wire feed speed set point. The wire feed speed is closed-loop controlled by a PID regulator. When the arc voltage detection value is in the first and third intervals too many times, and the number of short circuits and arc interruptions is too high, the adjustable parameters of the adaptive adjustment model are adjusted. This method can quickly correct the wire feed speed to return the arc voltage to the normal range and prevent overshoot, giving the system stronger disturbance compensation capabilities and rapid responsiveness, making it able to adapt to rapidly changing fast-frequency currents.

Description

Technical Field

[0001] The present invention relates to the technical field of MIG welding, and more particularly to a wire feeding adaptive adjustment method and a welding system based on high-frequency MIG welding. Background Art

[0002] During MIG welding, the interaction between wire feed speed and arc directly influences droplet transfer and the dynamic behavior of the weld pool, decisively impacting weld quality. Underwater welding operations face numerous complex environmental factors, such as water flow, bubbles, water temperature, and high-frequency noise. These factors can easily interfere with the arc and wire feed speed, leading to fluctuations that significantly weaken the stability of the underwater welding process. In severe cases, this can lead to frequent short circuits and arc breakage, forcing welding operations to be interrupted. This not only reduces production efficiency but also requires frequent manual adjustments, increasing operational complexity.

[0003] With the development of SiC power devices and digital control technology, some researchers have used SiC power device-based underwater inverter welding machines to output high-frequency current (≥20kHz) to improve weld quality. However, higher-frequency pulse currents can lead to more complex arc behavior, indirectly increasing the difficulty of controlling wire feed speed and placing higher demands on the adjustment strategy of the wire feed system.

[0004] Existing welding wire feeding mechanisms basically feed wire according to manual settings and follow certain rules, and cannot automatically adjust according to complex working conditions. Therefore, it is urgent to develop a wire feeding adjustment strategy that can flexibly adapt to complex water environments, establish a stable "fast-frequency arc-underwater wire feeding" system, and improve the stability and production efficiency of underwater MIG welding. Summary of the Invention

[0005] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide a wire feeding adaptive adjustment method and welding system based on fast-frequency MIG welding; this method can quickly correct the wire feeding speed to return the arc voltage to a normal range, and can prevent overadjustment, so that the system has stronger disturbance compensation capability and rapid responsiveness, and can adapt to high-speed changes in fast-frequency current.

[0006] In order to achieve the above object, the present invention is implemented by the following technical solutions: a wire feeding adaptive adjustment method based on fast frequency MIG welding is constructed to construct an adaptive adjustment model; the adaptive adjustment model is a piecewise quadratic function model with adjustable parameters; in the piecewise quadratic function model, the arc voltage is divided into three intervals: from the lower limit node to the low voltage node V L For the first interval, the low voltage node V L To high voltage node V H For the second interval, the high voltage node V HThe upper limit node is the third interval; the wire feeding speed change Δs of the three intervals is set as a function expression;

[0007] The function expression of the wire feeding speed change Δs in the first interval is: Δs=-[K1(VV O ) 2 +ε1];

[0008] The function expression of the wire feeding speed change Δs in the second interval is: Δs=0;

[0009] The function expression of the wire feeding speed change Δs in the third interval is: Δs=K2(VV o ) 2 +ε2;

[0010] Wherein, V is the arc voltage detection value; V O is the median wire feeding speed, V O =(V L +V H ) / 2; K1 and K2 are speed variation coefficients; ε1 and ε2 are bias values; the adjustable parameters include: V L 、V H , K1, K2, ε1 and ε2;

[0011] During underwater high-frequency MIG welding, the arc voltage detection value of underwater high-frequency MIG welding is obtained; the interval in the adaptive adjustment model is determined based on the arc voltage detection value, and the wire feeding speed change Δs is obtained based on the functional expression of the wire feeding speed change Δs in the corresponding interval; the wire feeding speed setting value s is adjusted: S = s o +Δs, where s o The wire feeding speed is controlled by the PID regulator in a closed loop.

[0012] Whether a short circuit occurs in underwater fast-frequency MIG welding is determined based on the arc voltage detection value; whether an arc is broken is determined based on the real-time welding current; and the adjustable parameters of the adaptive adjustment model are adjusted based on the number of times the arc voltage detection value is in the first and third intervals, the number of short circuits, and the number of arc breaks.

[0013] Preferably, judging whether a short circuit occurs in underwater fast-frequency MIG welding based on the arc voltage detection value means that if the arc voltage detection value is 0 and the duration is T1, it is judged that a short circuit occurs in underwater fast-frequency MIG welding.

[0014] Preferably, when it is determined that a short circuit occurs in underwater high-frequency MIG welding, a restrike operation is performed; the restrike operation includes immediately pausing the movement of the underwater high-frequency MIG welding robot and the output of the welding current, and retracting the welding wire;

[0015] If the arc voltage detection value remains 0 for a period of time T2 after the reigniting operation, it is determined that the welding wire can no longer be withdrawn and the welding operation is immediately terminated; if the arc voltage detection value rises again within time T2 after the reigniting operation, it is determined that the welding wire has been withdrawn, and after the welding wire has been withdrawn for a period of time T3, the wire is fed again to start the arc.

[0016] Preferably, judging whether the underwater high-frequency MIG welding arc is broken according to the real-time welding current means that if the real-time welding current is 0, it is judged that the underwater high-frequency MIG welding arc is broken.

[0017] Preferably, adjusting the adjustable parameters of the adaptive adjustment model according to the number of times the arc voltage detection value is in the first interval and the third interval, the number of short circuits, and the number of arc interruptions refers to:

[0018] Four counters A, B, C, and D are set to adjust the adjustable parameters of the adaptive adjustment model;

[0019] Among them, counter A represents the number of short circuits; each time a short circuit occurs, counter A increases by 1; when the value of counter A reaches the set threshold A max When the bias value ε1 increases by the set amount Δε′, the low voltage node V L Move right to increase the adjustment width of the first interval; at the same time, ε2 is reduced by a set amount Δε′, and the high voltage node V H Move right to achieve balance adjustment and reset counter A;

[0020] Counter B represents the number of times the arc voltage detection value is in the first interval; each time the arc voltage detection value is in the first interval, counter B increases by 1; when the value of counter B reaches the set threshold value B max When , the speed variation coefficient K1 increases by a set amount ΔK′ to increase the amplitude of wire feeding speed slowdown, while the speed variation coefficient K2 decreases by a set amount ΔK′ to reduce the amplitude of wire feeding speed increase, so as to achieve balanced adjustment and reset the counter B;

[0021] Counter C represents the number of times the arc voltage detection value is in the third interval; each time the arc voltage detection value is in the third interval, counter C increases by 1; when the value of counter C reaches the set threshold C max When , the speed variation coefficient K2 increases by a set amount ΔK″ to increase the amplitude of the wire feeding speed increase, while the speed variation coefficient K1 decreases by a set amount ΔK″ to reduce the amplitude of the wire feeding speed slowdown, so as to achieve balanced adjustment and reset the counter C;

[0022] Counter D represents the number of arc breaks; each time an arc break occurs, counter D increases by 1; when the value of counter D reaches the set threshold D max When the bias value ε2 increases by the set amount Δε″, the high voltage node V HShift left to increase the adjustment width of the third interval; at the same time, ε1 is reduced by a set amount Δε″, and the low voltage node V L Move left to achieve balance adjustment and reset counter D.

[0023] Preferably, when the value of the counter A reaches the set threshold A max When the low voltage node V L Right shift ΔV LA and high voltage node V H Right shift ΔV HA They are:

[0024]

[0025]

[0026] When the value of the counter D reaches the set threshold D max When the high voltage node V H Left shift ΔV HD and low voltage node V L Left shift ΔV LD They are:

[0027]

[0028]

[0029] Preferably, each welding environment condition corresponds to a set of model parameters of the adaptive adjustment model; the model parameters include adjustable parameters; the model parameters are stored in EEPROM; when underwater high-frequency MIG welding is started, the model parameters under the corresponding welding environment conditions are read from the EEPROM as the initial values ​​of the adaptive adjustment model; when the adjustable parameters of the adaptive adjustment model are adjusted, the corresponding model parameters in the EEPROM are updated.

[0030] An underwater high-frequency MIG welding system includes an adaptive adjustment controller. When the adaptive adjustment controller executes a stored program, the wire feeding adaptive adjustment method based on high-frequency MIG welding is implemented.

[0031] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0032] 1. The present invention uses an adaptive adjustment model based on a quadratic function to adjust the wire feeding speed. The further the deviation from the stable range, the larger the adjustment amplitude, which can quickly correct the wire feeding speed to return the arc voltage to the normal range; the closer the deviation from the stable range, the smaller the adjustment amplitude, which prevents over-adjustment. The system has stronger disturbance compensation capability and fast responsiveness, and can adapt to high-speed changes in fast-frequency current.

[0033] 2. The adaptive adjustment model parameters of the present invention can be changed in real time and in segments according to the feedback arc voltage during the welding process, allowing the system to flexibly adapt to complex underwater environments and diverse welding conditions, improving the system's dynamic adjustment capabilities and ensuring the continuity of the welding process;

[0034] 3. The model parameters of the adaptive adjustment model in the present invention are stored in the EEPROM in the form of groups, giving the system a powerful memory function. It can learn and save the model parameters under various welding conditions. When encountering the same welding conditions, it can quickly adapt and apply the most effective adjustment strategy based on historical data and continuously optimize the future welding process, greatly improving welding efficiency and weld quality.

[0035] 4. The wire feeding adaptive adjustment strategy of the present invention includes a short-circuit restrike method, which can perform emergency remediation in the event of a short circuit, reduce downtime and reduce the need for manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a control flow chart of the wire feeding adaptive adjustment method based on fast frequency MIG welding of the present invention;

[0037] Figure 2 Schematic diagram of an adaptive adjustment model of a wire feeding adaptive adjustment method based on fast-frequency MIG welding according to the present invention;

[0038] Figure 3 This is a flowchart of the counter used in the wire feeding adaptive adjustment method based on fast-frequency MIG welding of the present invention;

[0039] Figure 4 This is a diagram of the short-circuit restrike steps of the wire feeding adaptive adjustment method based on fast-frequency MIG welding of the present invention;

[0040] Figure 5 This is a general block diagram of an underwater fast-frequency MIG welding system used in the wire feeding adaptive adjustment method based on fast-frequency MIG welding of the present invention;

[0041] Figure 6 It is a module diagram of an adaptive adjustment controller used in the wire feeding adaptive adjustment method based on fast frequency MIG welding of the present invention;

[0042] Figure 7 This is a fast-frequency current waveform diagram used in the wire feeding adaptive adjustment method based on fast-frequency MIG welding of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0044] Example

[0045] This embodiment provides a wire feeding adaptive adjustment method based on high-frequency MIG welding, which is implemented by an underwater high-frequency MIG welding system; Figure 5 As shown, the underwater high-frequency MIG welding system includes a visual parameter adjustment panel, an adaptive adjustment controller, a wire feeder, an underwater high-frequency MIG welding power supply, a welding robot, and a gas cylinder device. The visual parameter adjustment panel is connected to the adaptive adjustment controller; the adaptive adjustment controller is connected to the wire feeder, the underwater high-frequency MIG welding power supply, and the welding robot, respectively. The positive output terminal of the underwater high-frequency MIG welding power supply is connected to the welding wire, and the negative output terminal is connected to the load. The welding wire is loaded into the welding gun and driven by the wire feeder. The welding gun is mounted on the end effector of the welding robot. A drainage cover is installed on the welding gun. The gas cylinder device delivers gas to the drainage cover.

[0046] Figure 6 The following is a functional block diagram of the adaptive control controller. The chip uses the STM32F407ZET6 based on ARM Cortex-M4. Other modules include: a power supply module for providing electrical energy, a sampling module, a PWM drive module, a relay module, and a communication module. The sampling module collects real-time welding current, arc voltage detection values, and wire feeding speed; the PWM drive module drives the wire feeding and outputs fast-frequency current; the relay module controls the gas cylinder device to release gas, and starts and stops the welding robot. The communication module is used for information exchange between the adaptive control controller and the visual parameter adjustment panel, and communicates with the user through I 2 C bus to extract and save the model parameters in the EEPROM memory of the chip model AT24C32.

[0047] The working process of underwater fast frequency MIG welding system is as follows: the operator sends welding parameters to the adaptive adjustment controller through the visual parameter adjustment panel, the adaptive adjustment controller opens the gas cylinder device to release gas and drain water and create a stable airflow field, and controls the output of underwater fast frequency MIG welding power supply such as Figure 7 The welding current waveform shown drives the wire feeder to feed wire and starts the welding robot to start moving. During this process, the adaptive regulation controller continuously controls the wire feeding speed through arc voltage feedback and the adaptive adjustment model. When the welding operation is completed, the adaptive regulation controller turns off the gas cylinder device, stops the movement of the welding robot and stops the current output.

[0048] The present invention is based on the wire feeding adaptive adjustment method of fast frequency MIG welding, such as Figure 1The adaptive control controller analyzes and processes the feedback arc voltage detection value. If a short circuit is detected, it performs a short-circuit restrike operation. If the arc voltage detection value is too frequent outside the normal range, the adaptive control model parameters are updated and saved to the EEPROM. The adaptive control controller updates the wire feed speed setpoint based on the adaptive control model and uses the PID regulator to close the loop to control the actual wire feed speed.

[0049] Specifically, an adaptive adjustment model is constructed; the adaptive adjustment model is a piecewise quadratic function model with adjustable parameters, such as Figure 2 As shown; piecewise quadratic function model, with V L and V H The arc voltage is divided into three intervals for the node: high voltage node V H >Low voltage node V L ; The arc voltage is equal to 0 as the lower limit node of the model, indicating a short circuit phenomenon; because the arc breaking voltage is very high and difficult to collect and process, the welding current is equal to 0 instead of the arc breaking voltage as the upper limit node of the model, indicating an arc breaking phenomenon. L For the first interval, the low voltage node V L To high voltage node V H For the second interval, the high voltage node V H The upper limit node is the third interval; set the wire feeding speed change Δs function expression of the three intervals;

[0050] The first interval represents that the arc voltage is too low and the wire feeding speed needs to be reduced. The function expression of the wire feeding speed change Δs is: Δs=-[K1(VV O ) 2 +ε1];

[0051] The second interval is the normal range of arc voltage fluctuation and does not require intervention. The function expression of the wire feeding speed change Δs is: Δs = 0;

[0052] The third interval represents that the arc voltage is too large and the wire feeding speed needs to be increased. The function expression of the wire feeding speed change Δs is: Δs=K2(VV O ) 2 +ε2;

[0053] Wherein, V is the arc voltage detection value; V O is the median wire feeding speed, V O =(V L +V H ) / 2; K1 and K2 are speed variation coefficients; ε1 and ε2 are bias values, and the initial values ​​of ε1 and ε2 are respectively determined by V L 、V HThe initial value of and the continuity of the function are derived; the adjustable parameters include: V L 、V H , K1, K2, ε1 and ε2.

[0054] According to welding requirements and workers' experience, the low voltage node V L , high voltage node V H and wire feeding speed s for initial setting.

[0055] During underwater high-frequency MIG welding, the arc voltage detection value of underwater high-frequency MIG welding is obtained; the interval in the adaptive adjustment model is determined based on the arc voltage detection value, and the wire feeding speed change Δs is obtained based on the functional expression of the wire feeding speed change Δs in the corresponding interval; the wire feeding speed s is adjusted: s = s o +Δs, where s o The wire feeding speed is controlled by the PID regulator in a closed loop.

[0056] According to the arc voltage detection value, it is judged whether a short circuit occurs in underwater high-frequency MIG welding; according to the real-time welding current, it is judged whether an arc is broken in underwater high-frequency MIG welding.

[0057] Specifically, if the arc voltage detection value is 0 and lasts for a very short period of time T1, it is determined that a short circuit has occurred in the underwater high-frequency MIG welding process. If the real-time welding current is 0, it is determined that an arc has been broken in the underwater high-frequency MIG welding process.

[0058] The number of times the arc voltage detection value is in the first interval and the third interval, the number of short circuits and the number of arc interruptions are counted; and the adjustable parameters of the adaptive adjustment model are adjusted according to the number of times the arc voltage detection value is in the first interval and the third interval, the number of short circuits and the number of arc interruptions.

[0059] like Figure 3 As shown, four counters A, B, C, and D are set to adjust the adjustable parameters of the adaptive adjustment model;

[0060] Among them, counter A represents the number of short circuits; each time a short circuit occurs, counter A increases by 1; when the value of counter A reaches the set threshold A max When the short circuit frequency is too high, the first interval adjustment width is not enough, V L is closer to the short-circuit voltage threshold, so the bias value ε1 is increased by a set amount Δε′ (for example, 0.01) to make the low voltage node V L Move right to increase the adjustment width of the first interval; at the same time, ε2 is reduced by a set amount Δε′, and the high voltage node V H Move right to achieve balance adjustment and reset counter A;

[0061] Low voltage node VL Right shift ΔV LA and high voltage node V H Right shift ΔV HA They are:

[0062]

[0063]

[0064] Counter B represents the number of times the arc voltage detection value is in the first interval; each time the arc voltage detection value is in the first interval, counter B increases by 1; when the value of counter B reaches the set threshold value B max When , it indicates that the frequency is too high in the low arc voltage range, the speed variation coefficient K1 is increased by a set amount ΔK′ (for example, 1 / 2000) to increase the amplitude of wire feeding speed reduction, while the speed variation coefficient K2 is reduced by a set amount ΔK′ to reduce the amplitude of wire feeding speed increase, so as to achieve balanced adjustment and reset the counter B;

[0065] Counter C represents the number of times the arc voltage detection value is in the third interval; each time the arc voltage detection value is in the third interval, counter C increases by 1; when the value of counter C reaches the set threshold C max When , it means that the frequency is too high in the high arc voltage range, the speed variation coefficient K2 is increased by a set amount ΔK″ (for example, 1 / 2000) to increase the increase amplitude of the wire feeding speed, and the speed variation coefficient K1 is reduced by a set amount ΔK″ to reduce the decrease amplitude of the wire feeding speed, so as to achieve balanced adjustment and reset the counter C;

[0066] Counter D represents the number of arc breaks; each time an arc break occurs, counter D increases by 1; when the value of counter D reaches the set threshold D max When the arc is broken, it means that the number of times is too high and the width of the third interval adjustment is not enough. H The voltage threshold value of arc breaking is relatively close to the voltage threshold value, therefore, the bias value ε2 is increased by a set amount Δε″ (for example, 0.01) so that the high voltage node V H Shift left to increase the adjustment width of the third interval; at the same time, ε1 is reduced by a set amount Δε″, and the low voltage node V L Move left to achieve balance adjustment and reset counter D;

[0067] When the value of the counter D reaches the set threshold D max When the high voltage node V H Left shift ΔB HD and low voltage node V L Left shift ΔV LD They are:

[0068]

[0069]

[0070] Each welding environment condition corresponds to a set of model parameters of the adaptive adjustment model; the model parameters include adjustable parameters; the model parameters are stored in EEPROM; when underwater high-frequency MIG welding is started, the model parameters under the corresponding welding environment conditions are read from the EEPROM as the initial values ​​of the adaptive adjustment model; when the adjustable parameters of the adaptive adjustment model are adjusted, the corresponding model parameters in the EEPROM are updated.

[0071] When it is determined that a short circuit occurs in underwater high-frequency MIG welding, the arc is reignited, such as Figure 4 As shown; the restrike operation includes immediately pausing the robot movement and welding current output of the underwater high-frequency MIG welding, and retracting the welding wire.

[0072] If the arc voltage detection value remains 0 for a short period of time T2 after the reigniting operation, it is determined that the welding wire can no longer be withdrawn and the welding operation is immediately terminated; if the arc voltage detection value rises again within time T2 after the reigniting operation, it is determined that the welding wire has been withdrawn, and after the welding wire has been withdrawn for time T3, the wire is fed again to start the arc; T3 is determined by the operator based on the required arc striking height and the set wire retraction speed.

[0073] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A wire feeding adaptive adjustment method based on high-frequency MIG welding, characterized by: Construct an adaptive adjustment model; the adaptive adjustment model is a piecewise quadratic function model with adjustable parameters; in the piecewise quadratic function model, the arc voltage is divided into three intervals: from the lower limit node to the low voltage node V L For the first interval, the low voltage node V L To high voltage node V H For the second interval, the high voltage node V H The upper limit node is the third interval; set the wire feeding speed change Δs function expression of the three intervals; The functional expression of the wire feeding speed change Δs in the first interval is: Δs=-[K1(VV O ) 2 +ε1]; The function expression of the wire feeding speed change Δs in the second interval is: Δs=0; The function expression of the wire feeding speed change Δs in the third interval is: Δs=K2(VV O ) 2 +ε2; Wherein, V is the arc voltage detection value; V O is the median wire feeding speed, V O =(V L +V H ) / 2; K1 and K2 are speed variation coefficients; ε1 and ε2 are bias values; the adjustable parameters include: V L 、V H , K1, K2, ε1 and ε2; During underwater high-frequency MIG welding, the arc voltage detection value of underwater high-frequency MIG welding is obtained; the interval in the adaptive adjustment model is determined based on the arc voltage detection value, and the wire feeding speed change Δs is obtained based on the functional expression of the wire feeding speed change Δs in the corresponding interval; the wire feeding speed setting value s is adjusted: s = s o +Δs, where s o The wire feeding speed is controlled by the PID regulator in a closed loop. Whether a short circuit occurs in underwater fast-frequency MIG welding is determined based on the arc voltage detection value; whether an arc is broken is determined based on the real-time welding current; and the adjustable parameters of the adaptive adjustment model are adjusted based on the number of times the arc voltage detection value is in the first and third intervals, the number of short circuits, and the number of arc breaks.

2. The wire feeding adaptive adjustment method based on high-frequency MIG welding according to claim 1, characterized in that: The determination of whether a short circuit occurs in underwater high-frequency MIG welding based on the arc voltage detection value means that if the arc voltage detection value is 0 and the duration is T1, it is determined that a short circuit occurs in underwater high-frequency MIG welding.

3. The wire feeding adaptive adjustment method based on high-frequency MIG welding according to claim 2, characterized in that: When it is determined that a short circuit occurs in underwater high-frequency MIG welding, a restrike operation is performed; the restrike operation includes immediately suspending the movement of the underwater high-frequency MIG welding robot and the output of the welding current, and retracting the welding wire; If the arc voltage detection value remains 0 for a period of time T2 after the restrike operation, it is determined that the welding wire cannot be withdrawn and the welding operation is immediately terminated. If the arc voltage detection value rises again within time T2 after the restrike operation, it is determined that the welding wire has been withdrawn, and after the welding wire has been withdrawn for time T3, the wire is fed again to start the arc.

4. The wire feeding adaptive adjustment method based on high-frequency MIG welding according to claim 1, characterized in that: The determination of whether an arc is broken in underwater high-frequency MIG welding based on the real-time welding current means that if the real-time welding current is 0, it is determined that an arc is broken in underwater high-frequency MIG welding.

5. The wire feeding adaptive adjustment method based on high-frequency MIG welding according to claim 1, characterized in that: The said adjusting the adjustable parameters of the adaptive adjustment model according to the number of times the arc voltage detection value is in the first interval and the third interval, the number of short circuits and the number of arc interruptions refers to: Four counters A, B, C, and D are set to adjust the adjustable parameters of the adaptive adjustment model; Among them, counter A represents the number of short circuits; each time a short circuit occurs, counter A increases by 1; when the value of counter A reaches the set threshold A max When the bias value ε1 increases by the set amount Δε′, the low voltage node V L Move right to increase the adjustment width of the first interval; at the same time, ε2 is reduced by a set amount Δε′, and the high voltage node V H Move right to achieve balance adjustment and reset counter A; Counter B represents the number of times the arc voltage detection value is in the first interval; each time the arc voltage detection value is in the first interval, counter B increases by 1; when the value of counter B reaches the set threshold value B max When , the speed variation coefficient K1 increases by a set amount ΔK′ to increase the amplitude of wire feeding speed slowdown, while the speed variation coefficient K2 decreases by a set amount ΔK′ to reduce the amplitude of wire feeding speed increase, so as to achieve balanced adjustment and reset the counter B; Counter C represents the number of times the arc voltage detection value is in the third interval; each time the arc voltage detection value is in the third interval, counter C increases by 1; when the value of counter C reaches the set threshold C max When , the speed variation coefficient K2 increases by a set amount ΔK″ to increase the amplitude of the wire feeding speed increase, while the speed variation coefficient K1 decreases by a set amount ΔK″ to reduce the amplitude of the wire feeding speed slowdown, so as to achieve balanced adjustment and reset the counter C; Counter D represents the number of arc breaks; each time an arc break occurs, counter D increases by 1; when the value of counter D reaches the set threshold D max When the bias value ε2 increases by the set amount Δε″, the high voltage node V H Shift left to increase the adjustment width of the third interval; at the same time, the bias value ε1 is reduced by a set amount Δε″, and the low voltage node V L Move left to achieve balance adjustment and reset counter D.

6. The wire feeding adaptive adjustment method based on high-frequency MIG welding according to claim 5, characterized in that: When the value of counter A reaches the set threshold A max When the low voltage node V L Right shift ΔV LA and high voltage node V H Right shift ΔV HA They are:

7. The wire feeding adaptive adjustment method based on high-frequency MIG welding according to claim 5, characterized in that: When the value of the counter D reaches the set threshold D max When the high voltage node V H Left shift ΔV HD and low voltage node V L Left shift ΔV LD They are:

8. The wire feeding adaptive adjustment method based on high-frequency MIG welding according to claim 5, characterized in that: Each welding environment condition corresponds to a set of model parameters of the adaptive adjustment model; the model parameters include adjustable parameters; the model parameters are stored in EEPROM; when underwater high-frequency MIG welding is started, the model parameters under the corresponding welding environment conditions are read from the EEPROM as the initial values ​​of the adaptive adjustment model; when the adjustable parameters of the adaptive adjustment model are adjusted, the corresponding model parameters in the EEPROM are updated.

9. An underwater high-frequency MIG welding system, comprising an adaptive adjustment controller, characterized in that: When the adaptive adjustment controller executes the stored program, the wire feeding adaptive adjustment method based on high-frequency MIG welding according to any one of claims 1 to 8 is implemented.

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