Integrated multi-mode current waveform and wire feeding driving cooperative control method

Abstract

The invention provides an integrated multi-mode current waveform and wire feeding driving cooperative control method, which is realized based on an integrated multi-mode current waveform and wire feeding driving cooperative control system, and comprises the following steps of: setting a mode and a current characteristic value of a welding current waveform, inputting a current waveform-wire feeding speed matching model, calculating an average current, and calculating a welding current waveform; the wire feeding set speed is calculated; the welding current waveform and the wire feeding speed which are actually output are controlled; and then the actually-output welding current waveform is collected and input into the current waveform-wire feeding speed matching model to calculate the average current, and then the wire feeding set speed is calculated. The method aims at cooperatively controlling welding current output and wire feeding driving of the inverter welding machine, the wire feeding speed is flexibly adjusted through a current waveform-wire feeding speed matching model so as to adapt to different current waveforms, dynamic balance of the wire feeding speed and welding current is achieved, and the welding process stability and the welding seam quality are improved.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and more specifically, to an integrated multi-modal current waveform and wire feeding drive coordinated control method. Background Art

[0002] The composite pulse MIG welding technology controls the molten droplet transfer through pulse current to obtain the ideal molten droplet transfer form. It not only has the characteristics of wide current adjustment range, easy to achieve all-position welding, effective control of heat input, and easy automation, but also the arc force generated by the change of average current has a stirring effect on the molten pool, thereby reducing the incidence of porosity and refining the grains. It is widely used in high-efficiency automated welding industrial occasions.

[0003] The wire feeding motor is used to replenish the welding wire consumed during MIG welding. Currently, the wire feeding speed is not coordinated with the welding current. However, the welding current determines the consumption rate of the welding wire. The imbalance between the wire consumption rate and the wire feeding speed will directly lead to fluctuations in the arc length, which in turn affects the arc voltage and the flow of the molten pool, and damages the quality of the weld. Therefore, it is urgent to design a method for coordinating the welding current output with the wire feeding drive. In addition, with the application of SiC power devices and the rapid development of digital control technology, inverter welding machines can output complex composite current waveforms, which requires the wire feeding speed to be flexibly adjusted to match the multi-modal current waveform. Summary of the invention

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide an integrated multi-modal current waveform and wire feeding drive collaborative control method; the method aims to collaboratively control the welding current output and wire feeding drive of the inverter welding machine, and flexibly adjust the wire feeding speed through the current waveform-wire feeding speed matching model to adapt to different current waveforms, thereby achieving a dynamic balance between the wire feeding speed and the welding current, and improving the stability of the welding process and the weld quality.

[0005] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical solutions: an integrated multi-modal current waveform and wire feeding drive coordinated control method is implemented based on an integrated multi-modal current waveform and wire feeding drive coordinated control system; the welding current waveform of the integrated multi-modal current waveform and wire feeding drive coordinated control system has multiple modes; the modes of the welding current waveform include: a low-frequency pulse mode including only a low-frequency pulse current waveform, a fast-frequency pulse mode including a fast-frequency pulse current waveform, and a fast-frequency single pulse mode obtained by superimposing a low-frequency pulse current waveform and a fast-frequency pulse current waveform;

[0006] The integrated multi-modal current waveform and wire feeding drive coordinated control method comprises the following steps:

[0007] Step S1, initializing the welding current waveform and the wire feeding set speed, including: setting the mode and current characteristic value of the welding current waveform; inputting the set current characteristic value of the welding current waveform into a current waveform-wire feeding speed matching model; the current waveform-wire feeding speed matching model calculates the average current, and then calculates the wire feeding set speed according to the average current and a linear fitting formula;

[0008] Step S2, according to the set welding current waveform and wire feeding speed, respectively controlling the actual output welding current waveform and wire feeding speed;

[0009] Step S3, collecting the actual output welding current waveform; inputting the current characteristic value of the actual output welding current waveform into the current waveform-wire feeding speed matching model to calculate the average current, and then calculating the wire feeding set speed according to the average current and the linear fitting formula; repeating steps S2 and S3 until the welding is completed.

[0010] Preferably, in the steps S1 and S3, the current characteristic value of the welding current waveform refers to: when the welding current waveform includes a low-frequency pulse current waveform, the current characteristic value includes the current peak value I of the low-frequency pulse current waveform Bp , Current base value I Bb , frequency f B and duty cycle D B When the welding current waveform includes a fast-frequency pulse current, the current characteristic value includes the current peak value I of the fast-frequency pulse current waveform D and frequency f D ;

[0011] Current waveform-wire feeding speed matching model to calculate average current I avgi and wire feed speed v i , means: i=1, 2, 3 correspond to low-frequency pulse mode, fast-frequency pulse mode, and fast-frequency single pulse mode respectively;

[0012] When the welding current waveform mode is low-frequency pulse mode, the average current I avg1 for:

[0013] I avg1 =I Bp ·D B +I Bb ·(1-D B )

[0014] When the welding current waveform mode is fast frequency pulse mode, the average current I avg2 for:

[0015]

[0016] When the welding current waveform mode is a fast-frequency single pulse mode, the average current Iavg3 for:

[0017] I avg3 =I avg1 +I avg2

[0018] Wire feeding setting speed v corresponding to various modal welding current waveforms i ,for:

[0019] v i =K i I avgi +b i

[0020] Among them, K i represents the response coefficient; b i Indicates the offset value.

[0021] Preferably, the response coefficient K i In, K 2 >K 1 ; K 3 =K 2 .

[0022] Preferably, in step S2, the actual output welding current waveform and wire feeding speed are controlled by a DSC controller; wherein the current peak value I Bp , Current base value I Bb and the peak current I D The output duty cycle control of the PWM drive module is connected through the DSC controller; the frequency f B , Duty cycle D B and frequency f D They are controlled by TIM3 built into the DSC controller respectively.

[0023] Preferably, in step S2, two independent ADCs are used to respectively collect the actual output welding current waveform and wire feeding speed; the two independent ADCs are triggered by TIM1 and TIM2 respectively; and an incremental PID algorithm is used to control the actual output welding current waveform and wire feeding speed.

[0024] Preferably, the incremental PID algorithm is used to control the actual output welding current waveform, which means:

[0025] The actual output low-frequency pulse current waveform and the actual output fast-frequency pulse current waveform are collected respectively; the de-extreme mean filtering algorithm is used to smooth the data, and then the actual output low-frequency pulse current waveform current peak value I is obtained. Bp , Current base value I Bb And the peak value of the fast-frequency pulse current waveform I DThe current difference value is obtained by comparing it with the current characteristic value corresponding to the set welding current waveform. The current difference value is adjusted by the incremental PID algorithm to adjust the output duty cycle of the PWM drive module, thereby controlling the actual output welding current waveform.

[0026] Preferably, the PID algorithm is used to control the wire feeding speed, which means: the actual wire feeding speed is collected, and compared with the wire feeding set speed to obtain a wire feeding difference value, and the wire feeding difference value is adjusted by the incremental PID algorithm to adjust the actual wire feeding speed;

[0027] A fine-tuning setting item is set in the human-computer interaction interface; and according to the fine-tuning setting item, the wire feeding setting speed calculated in step S3 is fine-tuned.

[0028] Preferably, the integrated multi-modal current waveform and wire feeding drive collaborative control system includes a human-machine interaction interface, an integrated control circuit, a welding robot, an integrated fast-frequency MIG inverter welding machine and a wire feeding motor.

[0029] Preferably, the integrated fast-frequency MIG inverter welding machine includes a three-phase rectifier input terminal, a motor drive circuit, a fast-frequency pulse modulation circuit, a low-frequency pulse modulation circuit and a current parallel terminal; wherein the three-phase rectifier input terminal receives three-phase power in an industrial environment and supplies it to the motor drive circuit, the fast-frequency pulse modulation circuit and the low-frequency pulse modulation circuit respectively; the output terminal of the motor drive circuit is connected to the wire feeding motor; the currents output by the fast-frequency pulse modulation circuit and the low-frequency pulse modulation circuit are respectively combined at the current parallel terminal output; the positive pole of the output terminal of the current parallel terminal is connected to the welding wire, and the negative pole is connected to the workpiece.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] 1. The present invention aims to coordinately control the welding current output and wire feeding drive of the inverter welding machine, match different wire feeding speeds for various modal welding current waveforms, establish a "current waveform-wire feeding speed" matching model with high fitting goodness, so that the wire feeding speed can flexibly adapt to a variety of complex composite current waveforms, greatly reducing the operator's debugging work, and adjust the wire feeding speed in real time according to the actual welding current during the welding process, so as to achieve a dynamic balance between the wire feeding speed and the welding current, and improve the stability of the welding process and the quality of the weld;

[0032] 2. The existing welding machine for outputting current and the motor for driving wire feeding are usually controlled separately by two circuit boards, and the two circuit boards can transmit signals by wireless or wired communication. However, the high-order harmonics generated by the fast-frequency (≥20kHz) pulse current used by the current inverter welding machine based on SiC power devices may cause serious interference to the communication. The present invention integrates the current output control and wire feeding drive control circuits to avoid the problem of communication being interfered by the fast-frequency pulse current, reduce the space occupied by the circuit board and external wiring, and make the system easy to install and maintain.

[0033] 3. The present invention utilizes two independent ADCs for parallel acquisition, achieving a more efficient acquisition efficiency than that of a single ADC, and can better isolate each input channel, reduce crosstalk between signals, and improve the anti-interference ability of the system;

[0034] 4. The two independent ADCs used in the present invention adopt different TIM triggers, which can realize different sampling frequencies according to specific needs. Using a higher sampling frequency to collect fast-frequency pulse current can more accurately capture the rapid changes of the signal, and using a lower sampling frequency to collect the armature voltage of the wire feeding motor can reduce the amount of data and calculation cost, thereby improving the calculation efficiency.

[0035] 5. The present invention sets a wire feeding speed fine-tuning setting item in the human-computer interaction interface, giving the user a certain operating space, enabling the system to flexibly respond to complex working conditions and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a main control function flow chart of the integrated multi-modal current waveform and wire feeding drive coordinated control method of the present invention;

[0037] Figure 2 It is a general block diagram of the integrated multi-modal current waveform and wire feeding drive coordinated control system used in the present invention;

[0038] Figure 3 It is a control circuit module block diagram of the integrated multi-modal current waveform and wire feeding drive coordinated control system used in the present invention;

[0039] Figure 4 It is a main circuit structure block diagram of the integrated multi-modal current waveform and wire feeding drive cooperative control system used in the present invention;

[0040] Figure 5 It is a diagram of current waveforms of each mode of the integrated multi-modal current waveform and wire feeding drive cooperative control system used in the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0042] Example

[0043] This embodiment provides an integrated multi-modal current waveform and wire feeding drive coordinated control method, such as Figure 1 As shown. It is realized based on the integrated multi-modal current waveform and wire feeding drive collaborative control system; Figure 2 As shown, the integrated multi-modal current waveform and wire feeding drive collaborative control system includes a human-machine interface, an integrated control circuit, a welding robot, an integrated fast-frequency MIG inverter welding machine, and a wire feeding motor. The human-machine interface is used to receive the parameters set by the user and send them to the integrated control circuit. The integrated control circuit is responsible for controlling the welding robot, the integrated fast-frequency MIG inverter welding machine, and the wire feeding motor, and is also responsible for receiving their feedback signals. The integrated fast-frequency MIG inverter welding machine can also provide sufficient driving power for the wire feeding motor.

[0044] Specifically, if Figure 3 As shown, the integrated fast-frequency MIG inverter welding machine includes a three-phase rectifier input terminal, a motor drive circuit, a fast-frequency pulse modulation circuit, a low-frequency pulse modulation circuit and a current parallel terminal. Among them, the three-phase rectifier input terminal receives three-phase power in the industrial environment and supplies it to the motor drive circuit, the fast-frequency pulse modulation circuit and the low-frequency pulse modulation circuit respectively. The output terminal of the motor drive circuit is connected to the wire feeding motor to drive the welding wire to feed. The currents output by the fast-frequency pulse modulation circuit and the low-frequency pulse modulation circuit are respectively combined at the current parallel terminal output. The positive pole of the output terminal of the current parallel terminal is connected to the welding wire, and the negative pole is connected to the workpiece, so as to generate an arc starting voltage between the two poles, and output current after arc starting for welding operation. The welding wire is loaded in the welding gun, and the welding gun is loaded at the execution end of the welding robot. During the welding process, the welding robot moves its mechanical arm to drive the welding gun to move and complete the preset welding operation path.

[0045] like Figure 4As shown, the integrated control circuit of the present invention includes a DSC controller, a power supply module, a sampling module, a PWM drive module, a relay module and a communication module. The DSC controller preferably uses an STM32F405RGT6 chip with an embedded lightweight real-time operating system (FreeRTOS) and an integrated hardware floating point unit (FPU). The power supply module is used to power the entire control circuit. The sampling module uses two independent ADCs to respectively collect the armature voltage and output current of the wire feeding motor. The PWM drive module includes a wire feeding drive module, a fast-frequency current drive module and a low-frequency current drive module; the wire feeding drive module is connected to the motor drive circuit in the integrated fast-frequency MIG inverter welding machine, the fast-frequency current drive module is connected to the fast-frequency pulse modulation circuit in the integrated fast-frequency MIG inverter welding machine, and the low-frequency current drive module is connected to the low-frequency pulse modulation circuit in the integrated fast-frequency MIG inverter welding machine. The welding robot is connected to the DSC controller through the relay module, and receives the start signal to start moving, and also sends a welding termination signal to stop the current output. The human-computer interaction interface is connected to the DSC controller through the communication module, which is responsible for the transmission of the welding parameter signal and the display of the fault signal sent by the DSC controller.

[0046] like Figure 5 As shown, the integrated multi-modal current waveform and wire feeding drive cooperative control system of the present invention can output current waveforms of multiple modes. Here, the three most commonly modulated current waveforms are taken as examples. The modes of welding current waveforms include: low-frequency pulse modes that only include low-frequency pulse current waveforms, such as Figure 5 The current waveform is shown in 1; including the fast-frequency pulse mode of the fast-frequency pulse current waveform, such as Figure 5 The current waveform is shown in 2; and the fast-frequency single pulse waveform mode obtained by superimposing the low-frequency pulse current waveform and the fast-frequency current waveform is shown in Figure 5 The current waveform is shown in Figure 3. In addition, more waveforms of specific modes can be modulated as needed.

[0047] When the welding current waveform includes a low-frequency pulse current waveform, the current characteristic value includes the current peak value I of the low-frequency pulse current waveform. Bp , Current base value I Bb , frequency f B and duty cycle D B When the welding current waveform includes a fast-frequency pulse current waveform, the current characteristic value includes the current peak value I of the fast-frequency pulse current waveform D and frequency f D , the duty cycle is constant at 50%. I Bp >I Bb ;f D >f B .

[0048] Among them, the peak current I Bp , Current base value I Bband the peak current I D The output duty cycle control of the PWM drive module is connected through the DSC controller; the frequency f B , Duty cycle D B and frequency f D They are controlled by TIM3 built into the DSC controller respectively.

[0049] The integrated multi-modal current waveform and wire feeding drive coordinated control method comprises the following steps:

[0050] Step S1, initializing the welding current waveform and the wire feeding setting speed, including: setting the mode and current characteristic value of the welding current waveform; after the setting is completed, sending it to the integrated control circuit through the human-computer interaction interface;

[0051] The set welding current waveform current characteristic value is input into the current waveform-wire feeding speed matching model; the current waveform-wire feeding speed matching model calculates the average current, and then calculates the wire feeding set speed according to the average current and the linear fitting formula;

[0052] Step S2, according to the set welding current waveform and wire feeding speed, respectively controlling the actual output welding current waveform and wire feeding speed;

[0053] Step S3, collecting the actual output welding current waveform; inputting the current characteristic value of the actual output welding current waveform into the current waveform-wire feeding speed matching model to calculate the average current, and then calculating the wire feeding set speed according to the average current and the linear fitting formula; repeating steps S2 and S3 until the welding is completed.

[0054] Current waveform-wire feeding speed matching model to calculate average current I avgi , and calculate the wire feeding setting speed v according to the average current and linear fitting formula i , means: i=1, 2, 3 correspond to low-frequency pulse mode, fast-frequency pulse mode, and fast-frequency single pulse mode respectively; the linear fitting formula is preferably a univariate linear regression equation based on the least squares method.

[0055] When the welding current waveform mode is low-frequency pulse mode, the average current I avg1 for:

[0056] I avg1 =I Bp ·D B +I Bb ·(1-D B )

[0057] When the welding current waveform mode is fast frequency pulse mode, the average current I avg2 for:

[0058]

[0059] When the welding current waveform mode is a fast-frequency single pulse mode, the average current I avg3 for:

[0060] I avg3 =I avg1 +I avg2

[0061] Wire feeding setting speed v corresponding to various modal welding current waveforms i ,for:

[0062] v i =K i I avgi +b

[0063] Among them, K i represents the response coefficient; b i Indicates the offset value.

[0064] The use of fast-frequency pulse current will increase the arc core temperature and the melting rate of the welding wire, so a faster wire feeding speed is required. The slope of the straight line is significantly higher than that of the low-frequency pulse current, that is, K 2 >K 1 Since the fast-frequency single pulse mode includes a fast-frequency pulse current waveform, K 3 =K 2 .

[0065] Closed-loop regulation functions are designed for current modulation and wire feeding drive. In step S2, two independent ADCs are used to collect the actual output welding current waveform and wire feeding speed respectively; the two independent ADCs are triggered by TIM1 and TIM2 respectively. For example, in the closed-loop regulation process of current modulation, TIM1 is used to trigger ADC1 for collection, and in the closed-loop regulation process of wire feeding drive, TIM2 is used to trigger ADC2 for collection; the trigger frequencies of TIM2 and TIM1 are different, and ADC1 and ADC2 are independent of each other.

[0066] An incremental PID algorithm is used to control the actual output welding current waveform and wire feeding speed.

[0067] Among them, the incremental PID algorithm is used to control the actual output welding current waveform, which means:

[0068] The actual output low-frequency pulse current waveform and the actual output fast-frequency pulse current waveform are collected respectively; the de-extreme mean filtering algorithm is used to smooth the data, and then the actual output low-frequency pulse current waveform current peak value I is obtained. Bp , Current base value I Bb And the peak value of the fast-frequency pulse current waveform I DThe current difference value is obtained by comparing it with the current characteristic value corresponding to the set welding current waveform. The current difference value is adjusted by the incremental PID algorithm to adjust the output duty cycle of the PWM drive module, thereby controlling the actual output welding current waveform.

[0069] The PID algorithm is used to control the wire feeding speed, which means: the actual wire feeding speed is collected and compared with the set wire feeding speed to obtain the wire feeding difference value, and the wire feeding difference value is adjusted by the incremental PID algorithm to adjust the actual wire feeding speed.

[0070] In order to increase the user's operating space, fine-tuning setting items are set in the human-computer interaction interface, such as setting a fine-tuning knob; according to the fine-tuning setting items, the wire feeding setting speed calculated in step S3 is fine-tuned; that is, a small increase or decrease is made on the basis of the wire feeding setting speed calculated in step S3 to cope with complex working conditions.

[0071] 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. An integrated multi-modal current waveform and wire feeding drive coordinated control method, characterized in that: It is realized based on the integrated multi-modal current waveform and wire feeding drive coordinated control system; The welding current waveform of the integrated multi-modal current waveform and wire feed drive cooperative control system has multiple modes; The modes of the welding current waveform include: a low-frequency pulse mode including only a low-frequency pulse current waveform, a fast-frequency pulse mode including a fast-frequency pulse current waveform, and a fast-frequency single pulse mode obtained by superimposing a low-frequency pulse current waveform and a fast-frequency pulse current waveform; The integrated multi-modal current waveform and wire feeding drive coordinated control method comprises the following steps: Step S1, initializing the welding current waveform and the wire feeding set speed, including: setting the mode and current characteristic value of the welding current waveform; inputting the set current characteristic value of the welding current waveform into a current waveform-wire feeding speed matching model; the current waveform-wire feeding speed matching model calculates the average current, and then calculates the wire feeding set speed according to the average current and a linear fitting formula; Step S2, according to the set welding current waveform and wire feeding speed, respectively controlling the actual output welding current waveform and wire feeding speed; Step S3, collecting the actual output welding current waveform; inputting the current characteristic value of the actual output welding current waveform into the current waveform-wire feeding speed matching model to calculate the average current, and then calculating the wire feeding set speed according to the average current and the linear fitting formula; repeating steps S2 and S3 until the welding is completed.

2. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 1, characterized in that: In the steps S1 and S3, the current characteristic value of the welding current waveform refers to: when the welding current waveform includes a low-frequency pulse current waveform, the current characteristic value includes the current peak value I of the low-frequency pulse current waveform. Bp , Current base value I Bb , frequency f B and duty cycle D B When the welding current waveform includes a fast-frequency pulse current waveform, the current characteristic value includes the current peak value I of the fast-frequency pulse current waveform D and frequency f D ; Current waveform-wire feeding speed matching model to calculate average current I avgi and wire feed speed v i , means: i=1, 2, 3 correspond to low-frequency pulse mode, fast-frequency pulse mode, and fast-frequency single pulse mode respectively; When the welding current waveform mode is low-frequency pulse mode, the average current I avg1 for: I avg1 =I Bp ·D B +I Bb ·(1-D B ) When the welding current waveform mode is fast frequency pulse mode, the average current I avg2 for: When the welding current waveform mode is a fast-frequency single pulse mode, the average current I avg3 for: I avg3 =I avg1 +I avg2 Wire feeding setting speed v corresponding to various modal welding current waveforms i ,for: v i =K i ·I avgi +b i Among them, K i represents the response coefficient; b i Indicates the offset value.

3. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 2, characterized in that: The response coefficient K i , K2>K1; K3=K2.

4. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 2, characterized in that: In step S2, the actual output welding current waveform and wire feeding speed are controlled by the DSC controller; wherein the current peak value I Bp , Current base value I Bb and the peak current I D The output duty cycle control of the PWM drive module is connected through the DSC controller; the frequency f B , Duty cycle D B and frequency f D They are controlled by TIM3 built into the DSC controller respectively.

5. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 4, characterized in that: In the step S2, two independent ADCs are used to respectively collect the actual output welding current waveform and wire feeding speed; the two independent ADCs are triggered by TIM1 and TIM2 respectively; and an incremental PID algorithm is used to control the actual output welding current waveform and wire feeding speed.

6. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 5, characterized in that: The incremental PID algorithm is used to control the actual output welding current waveform, which means: The actual output low-frequency pulse current waveform and the actual output fast-frequency pulse current waveform are collected respectively; The de-extreme mean filtering algorithm is used to smooth the data, and then the actual output low-frequency pulse current waveform current peak value I is obtained. Bp , Current base value I Bb And the peak value of the fast-frequency pulse current waveform I D The current difference value is obtained by comparing it with the current characteristic value corresponding to the set welding current waveform. The current difference value is adjusted by the incremental PID algorithm to adjust the output duty cycle of the PWM drive module, thereby controlling the actual output welding current waveform.

7. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 5, characterized in that: The PID algorithm is used to control the wire feeding speed, which means: the actual wire feeding speed is collected and compared with the wire feeding set speed to obtain the wire feeding difference value, and the wire feeding difference value is adjusted by the incremental PID algorithm to adjust the actual wire feeding speed; A fine-tuning setting item is set in the human-computer interaction interface; and according to the fine-tuning setting item, the wire feeding setting speed calculated in step S3 is fine-tuned.

8. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 1, characterized in that: The integrated multi-modal current waveform and wire feeding drive collaborative control system includes a human-machine interaction interface, an integrated control circuit, a welding robot, an integrated fast-frequency MIG inverter welding machine and a wire feeding motor.

9. The integrated multi-modal current waveform and wire feeding drive coordinated control method according to claim 8, characterized in that: The integrated fast-frequency MIG inverter welding machine includes a three-phase rectifier input terminal, a motor drive circuit, a fast-frequency pulse modulation circuit, a low-frequency pulse modulation circuit and a current parallel terminal; wherein the three-phase rectifier input terminal receives three-phase power in an industrial environment and supplies it to the motor drive circuit, the fast-frequency pulse modulation circuit and the low-frequency pulse modulation circuit respectively; the output terminal of the motor drive circuit is connected to the wire feeding motor; the currents outputted by the fast-frequency pulse modulation circuit and the low-frequency modulation circuit are respectively combined at the current parallel terminal output; the positive pole of the output terminal of the current parallel terminal is connected to the welding wire, and the negative pole is connected to the workpiece.

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