Wire feeding self-adaptive adjusting method based on fast frequency MIG welding and welding system

Abstract

The invention provides a wire feeding self-adaptive adjusting method based on fast frequency MIG welding and a welding system. The method comprises the steps that a self-adaptive adjustment model is constructed, the arc voltage is divided into three intervals with VL and VH as nodes, wire feeding speed variation function expressions of the three intervals are set, and the wire feeding speed variation function expressions have adjustable parameters; acquiring an arc voltage detection value, judging an interval in the self-adaptive adjustment model to obtain a wire feeding speed variation, and further adjusting a wire feeding speed set value; the PID regulator controls the wire feeding speed in a closed-loop manner; and when the times of the arc voltage detection value in the first interval and the third interval, the short circuit times and the arc breaking times are excessive, adjusting adjustable parameters of the adaptive adjustment model. According to the method, the wire feeding speed can be rapidly corrected to enable the arc voltage to return to a normal range, and overregulation can be prevented, so that the system has higher disturbance compensation capability and rapid responsiveness and can adapt to fast-frequency current changing at a high speed.

Description

Technical Field

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

[0002] During the MIG welding process, the interaction between the wire feed speed and the arc directly interferes with the droplet transfer and the dynamic behavior of the molten pool, and has a decisive influence on the welding quality. Due to the large number of complex environmental factors faced by underwater welding operations, such as water flow, bubbles, water temperature, high-frequency noise, etc., the underwater arc and wire feed speed are easily disturbed and fluctuate, which greatly weakens the stability of the underwater welding process. In severe cases, short circuits and arc breaking phenomena will occur frequently, forcing the welding operation to be interrupted, which not only reduces production efficiency, but also requires frequent manual adjustments, increasing the difficulty of operation.

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

[0004] The existing welding wire feeding mechanisms basically feed wire according to manual settings and follow certain rules, and cannot be automatically adjusted 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 a 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 scheme: a wire feeding adaptive adjustment method based on fast frequency MIG welding, constructing 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 function expression of the three intervals is set;

[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] Where, 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] In the underwater high-frequency MIG welding process, the arc voltage detection value of underwater high-frequency MIG welding is obtained; the interval in the adaptive adjustment model is determined according to the arc voltage detection value, and the wire feeding speed change Δs is obtained according to the function 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 is the wire feeding speed; the wire feeding speed is controlled by the PID regulator in a closed loop;

[0012] According to the arc voltage detection value, it is judged whether a short circuit occurs in underwater fast-frequency MIG welding; according to the real-time welding current, it is judged whether an arc is broken in underwater fast-frequency MIG welding; 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 breaks, the adjustable parameters of the adaptive adjustment model are adjusted.

[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 lasts for 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 robot movement and welding current output of the underwater high-frequency MIG welding, and retracting the welding wire;

[0015] If the arc voltage detection value remains 0 for T2 seconds after the reignite operation, it is determined that the welding wire can no longer be pulled out and the welding operation is terminated immediately. If the arc voltage detection value rises again within T2 seconds after the reignite operation, it is determined that the welding wire has been pulled out and after T3 seconds, the wire is fed again to start the arc.

[0016] Preferably, judging whether the underwater high-frequency MIG welding has an arc break 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 has an arc break.

[0017] Preferably, 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 breaking, 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 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, and 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 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 increase in the wire feeding speed, the speed variation coefficient K1 decreases by a set amount ΔK″ to reduce the decrease in the wire feeding speed, 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 decreases 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 counter A reaches a set threshold value 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 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 fast-frequency MIG welding is started, the model parameters under the corresponding welding environment conditions are read from 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 comprises 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 away from the stable interval, the greater the adjustment amplitude, which can quickly correct the wire feeding speed to return the arc voltage to the normal range; the closer to the stable interval, the smaller the adjustment amplitude, which prevents over-adjustment; the system has stronger disturbance compensation capability and rapid responsiveness, and can adapt to high-speed changing fast-frequency current;

[0033] 2. The adaptive adjustment model parameters in the present invention can be changed in real time according to the feedback arc voltage in segments during the welding process, so that the system can flexibly adapt to the complex underwater environment and various welding conditions, improve the dynamic adjustment ability of the system, and ensure 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 a group, giving the system a powerful memory function, capable of learning and storing the model parameters under various welding conditions, and when encountering the same welding conditions, quickly adapting and applying the most effective adjustment strategy based on historical data and continuously optimizing 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 It 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 It is a schematic diagram of an adaptive adjustment model of a wire feeding adaptive adjustment method based on fast frequency MIG welding of the present invention;

[0038] Figure 3 It is a working flow chart of a counter used in the wire feeding adaptive adjustment method based on fast frequency MIG welding of the present invention;

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

[0040] Figure 5 It 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 It 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 is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0044] Example

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

[0046] Figure 6 The specific functional block diagram of the adaptive control controller is shown in Figure 1. The chip uses the STM32F407ZET6 based on ARM Cortex-M4. Other modules include: a power supply module for providing electrical energy, as well as 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 value, and wire feeding speed; the PWM drive module drives 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 control panel 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 the underwater fast-frequency MIG welding system is as follows: the operator sends the welding parameters to the adaptive adjustment controller through the visual parameter adjustment panel, and the adaptive adjustment controller opens the gas cylinder device to release gas and drain water to create a stable airflow field, and controls the underwater fast-frequency MIG welding power output as follows: 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 adaptive adjustment model. When the welding operation is completed, the adaptive regulation controller turns off the gas cylinder device and stops the movement of the welding robot and the current output.

[0048] The present invention is based on the wire feeding adaptive adjustment method of fast frequency MIG welding, such as Figure 1As shown. The adaptive adjustment controller analyzes and processes the feedback arc voltage detection value. If a short circuit state is detected, a short circuit restrike operation is performed; if the frequency of the arc voltage detection value not being within the normal range is too high, the model parameters of the adaptive adjustment model are updated and saved in the EEPROM. The adaptive adjustment controller updates the wire feeding speed set value according to the adaptive adjustment model, and controls the actual value of the wire feeding speed through the PID regulator closed loop.

[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 the 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 small, 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 no intervention is required. 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] Where, 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] In the underwater high-frequency MIG welding process, the arc voltage detection value of underwater high-frequency MIG welding is obtained; the interval in the adaptive adjustment model is determined according to the arc voltage detection value, and the wire feeding speed change Δs is obtained according to the function 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 is the wire feeding speed; the wire feeding speed is controlled by the PID regulator in a closed loop;

[0056] According to the arc voltage detection value, determine whether a short circuit occurs in underwater fast-frequency MIG welding; according to the real-time welding current, determine whether an arc is broken in underwater fast-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 occurs in the underwater high-frequency MIG welding. If the real-time welding current is 0, it is determined that an arc is broken in the underwater high-frequency MIG welding.

[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 breaking 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 breaking.

[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 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 increases by a set amount ΔK′ (for example, 1 / 2000) to increase the amplitude of the wire feeding speed reduction, and the speed variation coefficient K2 decreases by a set amount ΔK′ to reduce the amplitude of the 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 value C max When , it indicates 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 in wire feeding speed, and the speed variation coefficient K1 is reduced by a set amount ΔK″ to reduce the decrease in 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 arc breaks is too large, the adjustment width of the third interval is not enough, V H is close to the voltage threshold of arc breaking, therefore, the bias value ε2 is increased by a set amount Δε″ (for example, 0.01) to make the high voltage node V H Shift left to increase the adjustment width of the third interval; at the same time, ε1 decreases 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 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 saved in EEPROM; when underwater fast-frequency MIG welding is started, the model parameters under the corresponding welding environment conditions are read from 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 re-ignition arc 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 restrike operation, it is determined that the welding wire can no longer be pulled out and the welding operation is terminated immediately; if the arc voltage detection value rises again within time T2 after the restrike operation, it is determined that the welding wire has been pulled out, and after the welding wire has been pulled out for time T3, the wire is fed again to start the arc; T3 is determined by the operator based on the required arc starting 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 equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A wire feeding adaptive adjustment method based on fast frequency MIG welding, characterized in that: 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 function 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; In the underwater high-frequency MIG welding process, the arc voltage detection value of underwater high-frequency MIG welding is obtained; the interval in the adaptive adjustment model is determined according to the arc voltage detection value, and the wire feeding speed change Δs is obtained according to the function 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 is the wire feeding speed; the wire feeding speed is controlled by the PID regulator in a closed loop; According to the arc voltage detection value, it is judged whether a short circuit occurs in underwater fast-frequency MIG welding; according to the real-time welding current, it is judged whether an arc is broken in underwater fast-frequency MIG welding; 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 breaks, the adjustable parameters of the adaptive adjustment model are adjusted.

2. The wire feeding adaptive adjustment method based on fast frequency MIG welding according to claim 1 is characterized in that: The determination of 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 determined that a short circuit occurs in underwater fast-frequency MIG welding.

3. The wire feeding adaptive adjustment method based on fast frequency MIG welding according to claim 2 is 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 pausing the robot movement and welding current output of the underwater high-frequency MIG welding, and retracting the welding wire; If the arc voltage detection value is still 0 after the arc restrike operation lasts for T2, it is determined that the welding wire cannot be withdrawn and the welding operation is stopped immediately. 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 fast frequency MIG welding according to claim 1 is characterized in that: The said judging whether the underwater high-frequency MIG welding has an arc break 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 has an arc break.

5. The wire feeding adaptive adjustment method based on fast 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 breaks, 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 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, and 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 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 increase in the wire feeding speed, the speed variation coefficient K1 decreases by a set amount ΔK″ to reduce the decrease in the wire feeding speed, 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 The voltage at 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 fast frequency MIG welding according to claim 5 is 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 fast frequency MIG welding according to claim 5 is characterized in that: When the value of 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 fast 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 saved in EEPROM; when underwater fast-frequency MIG welding is started, the model parameters under the corresponding welding environment conditions are read from 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 fast-frequency MIG welding described in any one of claims 1 to 8 is implemented.

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