Electromagnetic interference modeling method, device and medium

Abstract

The invention provides an electromagnetic interference modeling method and device and a medium, and the method comprises the steps that a test data set, a preset power threshold value and preset pulse duration of welding electromagnetic interference are obtained, and the test data set comprises test data of multiple welding in all rounds of welding; determining average background noise power according to the test data set; according to the test data set, a preset power threshold, preset pulse duration and average background noise power, model parameters of a welding electromagnetic interference model are determined, the welding electromagnetic interference model is a time sequence model, and the model parameters comprise a pulse time interval, a pulse amplitude and pulse duration; and according to the model parameters and the average background noise power, constructing a welding electromagnetic interference model so as to improve the precision of the welding electromagnetic interference model.

Description

Technical Field

[0001] The present application relates to the field of electromagnetic interference technology, and in particular to an electromagnetic interference modeling method, device and medium. Background Art

[0002] In the wireless communication network of Industrial Internet of Things (IIoT), electromagnetic interference (EMI) will affect the quality of IIoT wireless communication. EMI interference sources come from various industrial production equipment such as welding machines, motors and voltage regulators. In order to effectively solve the impact of industrial EMI, it is urgent to accurately model EMI.

[0003] At present, EMI modeling methods include physical modeling and statistical modeling. In physical modeling, ray tracing technology calculates that different signals reach the receiving point through different paths. In this process, they will be attenuated by various propagation phenomena in the transmission medium. A large amount of electromagnetic theory calculations are required, which consumes too much resources and time and is not suitable for industrial EMI modeling. Equivalent circuits are easily affected by external interference, and the diversity of industrial equipment makes it impossible to perform separate equivalent circuit modeling for each device. The statistical modeling method does not perform measurement and analysis on a single type of equipment, resulting in the inability to obtain and predict industrial EMI at a certain time.

[0004] Therefore, the modeling methods for industrial EMI in the prior art have certain limitations. Summary of the invention

[0005] The purpose of this application is to provide an electromagnetic interference modeling method, device and medium to address the shortcomings of the above-mentioned prior art, so as to solve the practical problem that the modeling method of industrial EMI in the prior art has certain limitations.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides an electromagnetic interference modeling method, the method comprising:

[0008] Acquire a test data set of welding electromagnetic interference, a preset power threshold, and a preset pulse duration, wherein the test data set includes test data of multiple weldings in each round of welding;

[0009] Determining an average background noise power according to the test data set;

[0010] Determine the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power, wherein the welding electromagnetic interference model is a time series model, and the model parameters include pulse time interval, pulse amplitude and pulse duration;

[0011] The welding electromagnetic interference model is constructed according to the model parameters and the average background noise power.

[0012] In a second aspect, an embodiment of the present application provides an electromagnetic interference modeling device, the device comprising:

[0013] An acquisition module, used to acquire a test data set of welding electromagnetic interference, a preset power threshold and a preset pulse duration, wherein the test data set includes test data of multiple weldings in each round of welding;

[0014] A determination module, used to determine the average background noise power according to the test data set;

[0015] The determination module is further used to determine the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power, wherein the welding electromagnetic interference model is a time series model, and the model parameters include pulse time interval, pulse amplitude and pulse duration;

[0016] A construction module is used to construct the welding electromagnetic interference model according to the model parameters and the average background noise power.

[0017] In a third aspect, an embodiment of the present application provides a computer device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor communicates with the memory through the bus, and the processor executes the machine-readable instructions to perform the steps of the electromagnetic interference modeling method described in the first aspect above.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the electromagnetic interference modeling method described in the first aspect are executed.

[0019] The beneficial effects of this application are:

[0020] The present application provides an electromagnetic interference modeling method, equipment and device. By performing frequency domain measurement and time domain measurement on welding electromagnetic interference, a test data set of welding electromagnetic interference is obtained, and a preset power threshold and a preset pulse duration are obtained. Based on the test data set, it is determined that the welding electromagnetic interference has a specific pulse shape in the time domain of each round of welding. According to the test data of the non-welding period during the entire welding electromagnetic interference measurement process, the average background noise power is determined, and according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power, the pulse time interval, pulse amplitude and pulse duration of the welding electromagnetic interference are determined, and the pulse time interval, pulse amplitude and pulse duration are used as model parameters of the welding electromagnetic interference model. According to the model parameters and the average background noise power, since the welding electromagnetic interference has a specific pulse shape in the time domain of each round of welding, the welding electromagnetic interference is modeled according to the time series, and the welding electromagnetic interference model is accurately constructed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of a flow chart of an electromagnetic interference modeling method provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a device for measuring electromagnetic interference in welding provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of an environment for measuring welding electromagnetic interference provided in an embodiment of the present application; Figure 4 A time domain measurement diagram of welding electromagnetic interference of a single-wheel stud welding provided in an embodiment of the present application;

[0025] Figure 5 A time domain measurement diagram of welding electromagnetic interference of five-wheel stud welding provided in an embodiment of the present application;

[0026] Figure 6 A time domain measurement diagram of welding electromagnetic interference of a single arc welding provided in an embodiment of the present application;

[0027] Figure 7 A time domain measurement diagram of welding electromagnetic interference of five rounds of arc welding provided in an embodiment of the present application;

[0028] Figure 8 A schematic diagram of a welding electromagnetic interference model provided in an embodiment of the present application;

[0029] Fig. 9 A schematic diagram of a flow chart of determining model parameters of a welding electromagnetic interference model in an electromagnetic interference modeling method provided in an embodiment of the present application;

[0030] Fig.10 A schematic diagram of a flow chart of determining each welding electromagnetic interference pulse sequence in each round of welding according to the electromagnetic interference modeling method provided in an embodiment of the present application;

[0031] Fig.11 A schematic diagram of a flow chart of determining the power of each welding electromagnetic interference pulse in each round of welding according to the electromagnetic interference modeling method provided in an embodiment of the present application;

[0032] Fig.12 A schematic diagram of a flow chart of determining a target welding electromagnetic interference pulse sequence, a target peak power, and a target delay time in an electromagnetic interference modeling method provided in an embodiment of the present application;

[0033] Fig.13 A schematic diagram of a flow chart of determining a target peak power of each welding electromagnetic interference pulse and a target delay time of each welding electromagnetic interference pulse according to an electromagnetic interference modeling method provided in an embodiment of the present application;

[0034] Fig.14 Another schematic diagram of a flow chart of determining model parameters of a welding electromagnetic interference model in the electromagnetic interference modeling method provided in an embodiment of the present application;

[0035] Fig.15 A schematic diagram of a flow chart of verifying a welding electromagnetic interference model according to an electromagnetic interference modeling method provided in an embodiment of the present application;

[0036] Fig.16 A cumulative distribution function diagram of the absolute error of the welding electromagnetic interference model provided in an embodiment of the present application;

[0037] Fig.17 A module structure diagram of an electromagnetic interference modeling device provided in an embodiment of the present application;

[0038] Fig.18 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0040] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0041] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0042] At present, EMI modeling methods can be divided into two categories: physical modeling and statistical modeling. Physical modeling methods require computers to perform a large amount of electromagnetic theory calculations, which consumes too much resources and time and is not suitable for industrial EMI modeling. Statistical modeling methods cannot measure and analyze a single type of industrial equipment, resulting in the inability to obtain and predict industrial EMI at a certain time, which has certain limitations.

[0043] Based on the above problems, the embodiment of the present application proposes an electromagnetic interference modeling method, which comprehensively measures the welding electromagnetic interference in the time domain, obtains a test data set of the welding electromagnetic interference, and determines the model parameters of the welding electromagnetic interference model, including the pulse time interval, pulse amplitude, and pulse duration. Based on the model parameters, the welding electromagnetic interference is modeled to obtain a welding electromagnetic interference model, which is a time series model. The welding electromagnetic interference model is verified based on the absolute error between the test data set and the welding electromagnetic interference model to improve the accuracy of the welding electromagnetic interference model.

[0044] Figure 1The flowchart of the electromagnetic interference modeling method provided in the embodiment of the present application is shown in FIG. 1 , and the execution subject of the method can be any computer device with computing processing capabilities. Figure 1 As shown, the method includes:

[0045] S101, obtaining a test data set of welding electromagnetic interference, a preset power threshold, and a preset pulse duration, wherein the test data set includes test data of multiple weldings in each round of welding.

[0046] Optionally, during the welding process, the welding equipment is programmed by a programmable logic controller (PLC) to complete the automated welding task. The PLC sends instructions to the welding equipment according to the preset welding path and welding parameters to accurately control the motion trajectory of the welding equipment, including the welding starting point, welding times, welding speed and welding direction, etc. The welding equipment will generate welding EMI during the welding process, wherein the welding equipment may be a welding robot. Welding technologies include stud welding (SW) and arc welding (AW). SW EMI is the welding EMI generated during stud welding, and AW EMI is the welding EMI generated during arc welding.

[0047] Figure 2 This is a schematic diagram of the structure of the device for measuring electromagnetic interference in welding provided in the embodiment of the present application, referring to Figure 2 The device for measuring welding electromagnetic interference may include a directional log-periodic antenna, a signal analyzer and a computer device, wherein the signal analyzer is connected to the directional log-periodic antenna and the computer device respectively. Figure 3 Schematic diagram of the environment for measuring welding electromagnetic interference provided in the embodiment of the present application, refer to Figure 3 The test environment is the welding workshop of an automobile manufacturer. Figure 3 The welding equipment for welding the left outer panel of the car in the production line stations L100-L110, among which L100 adopts arc welding and L110 adopts stud welding.

[0048] Continue to refer to Figure 2 and Figure 3 , the welding EMI generated by the welding equipment is measured in a directional manner to ensure that it is not affected by the EMI generated by other welding equipment, so that the interference received is a single type of welding EMI, and the test data sets L of SWEMI are obtained respectively. s (t) and the test dataset L of AW EMI A(t), wherein the test data set of welding EMI includes the test data of multiple welding in each round of welding. Specifically, during the measurement process, the directional logarithmic periodic antenna is aligned with the welding nozzle work order of the welding equipment, the parameters of the signal analyzer are adjusted, and the electromagnetic waves radiated during the welding process are accurately collected to obtain the test data set of welding EMI and store it in the computer device. The number of scanning points of the signal analyzer is configured to a maximum value of 32001 points to achieve the highest measurement fine granularity of the signal analyzer, and the welding EMI is measured in the frequency domain. The parameters such as the scanning bandwidth, resolution bandwidth and video bandwidth of the signal analyzer are adjusted to accurately measure the frequency domain information of the welding EMI; then the welding EMI is measured in the time domain, and the measurement duration is controlled according to the preset measurement accuracy to obtain the morphology of the welding EMI. Exemplarily, when the preset measurement accuracy is a scanning time interval of 1ms, the measurement time is 32 seconds.

[0049] Stud welding is a welding technology that uses an electric arc to firmly connect a metal stud to a metal workpiece. During the welding process, arc discharge can cause SW EMI. Figure 4 The time domain measurement diagram of the welding electromagnetic interference of the single-wheel stud welding provided in the embodiment of the present application is as follows: Figure 4 As shown, a single-round stud welding process includes multiple weldings. For example, the total duration of a single-round SW EMI is about 27 seconds, which is divided into 6 weldings. Each stud welding consists of a very short pulse, which lasts only about 0.11 seconds. Figure 5 The time domain measurement diagram of the welding electromagnetic interference of the five-wheel stud welding provided in the embodiment of the present application is as follows: Figure 5 As shown, the test data set L of SW EMI s (t) includes test data of 5 rounds of welding, each of which includes 6 weldings. The pulse time interval, shape and power of the same pulse in each round of time domain measurement diagram are consistent, indicating that SW EMI has deterministic characteristics, that is, SWEMI has a specific pulse shape in the time domain of each round of welding.

[0050] Arc welding is a welding process that uses an electric arc to create fusion between two metal workpieces. When current passes through the electrode, an intense arc is generated between the electrode and the workpiece, generating heat and AWEMI. Figure 6 The time domain measurement diagram of the welding electromagnetic interference of a single arc welding provided in the embodiment of the present application is as follows: Figure 6 As shown, a single round of arc welding also includes multiple welding processes. For example, the total duration of a single round of AW EMI is about 18 seconds, which is divided into 6 weldings, and each arc welding consists of a pulse with a duration of 1.5 seconds. Figure 7 The time domain measurement diagram of the welding electromagnetic interference of five rounds of arc welding provided in the embodiment of the present application is as follows: Figure 7 As shown, the test data set L of AW EMIA (t) includes test data of 8 rounds of welding, each of which includes 6 welds. Since arc welding is a sliding welding mode, the pulse shape of the word AWEMI has a small fluctuation, but the pulse time interval, shape and power of the same pulse in each round of time domain measurement diagram remain consistent, indicating that AW EMI also has deterministic characteristics, that is, AW EMI also has a specific pulse shape in the time domain of each round of welding.

[0051] Computer equipment obtains the measured SW EMI test data set L s (t) and the test dataset L of AW EMI A (t), and receiving a preset power threshold T and a preset pulse duration D input by a user. The preset power threshold T may include a preset power threshold T of stud welding. S and the preset power threshold T for arc welding A , for example, the preset power threshold T of stud welding S It can be -111dBm, the preset power threshold of arc welding is T A It can be -113dBm, and the preset pulse duration D can be 50 milliseconds.

[0052] S102: Determine average background noise power according to the test data set.

[0053] Optionally, continue to refer to Figure 5 , according to the test data set L of SW EMI s (t), the average background noise power σ of stud welding is calculated based on the test data of the non-welding period during the entire SW EMI measurement process s 2 Accordingly, continue to refer to Figure 7 , according to the test data set L of AW EMI A (t), the average background noise power σ of arc welding is calculated based on the test data of the non-welding period during the entire AW EMI measurement process A 2 .

[0054] S103. Determine the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power. The welding electromagnetic interference model is a time series model, and the model parameters include pulse time interval, pulse amplitude and pulse duration.

[0055] Optionally, since SW EMI has a specific pulse shape in the time domain of each round of welding, each round of SW EMI can be modeled as a time series model to obtain each SW EMI model. Before constructing each SW EMI model, according to the test data set L of SW EMIs (t), preset power threshold T for stud welding S , preset pulse duration D and average background noise power σ of stud welding s 2 , determine the model parameters of each SW EMI model. Among them, the model parameters of SW EMI include pulse time interval, pulse amplitude and pulse duration. The pulse time interval can be characterized by the delay time of each single SW EMI pulse in a round of welding relative to the first SW EMI pulse, the pulse amplitude can be characterized by the power peak of each single SW EMI pulse in a round of welding, and the duration can be characterized by the pulse sequence pulses of each single SWEMI pulse in a round of welding.

[0056] Correspondingly, since AW EMI also has a specific pulse shape in the time domain of each round of welding, each round of AW EMI can be modeled as a time series model to obtain each AW EMI model. Before constructing each AW EMI model, according to the test data set L of AW EMI A (t), preset power threshold T for arc welding A , preset pulse duration D and average background noise power σ of arc welding A 2 , determine the model parameters of each AW EMI model. The model parameters of the AW EMI model include pulse time interval, pulse amplitude and pulse duration. The pulse time interval can be characterized by the delay time of each single AW EMI pulse in a round of welding relative to the first AW EMI pulse, the pulse amplitude can be characterized by the power peak of each single AW EMI pulse in a round of welding, and the duration can be characterized by the pulse sequence of each single AW EMI pulse in a round of welding.

[0057] S104: construct a welding electromagnetic interference model according to the model parameters and the average background noise power.

[0058] Optionally, according to the average background noise power σ of the stud welding s 2 As well as the pulse time interval, pulse amplitude and pulse duration in the SW EMI model parameters, a single-round SW EMI model S(t) is constructed based on the following expression:

[0059]

[0060] Among them, S(t) is the single-round SW EMI model, N S is the number of welding times in a single round of stud welding, P i S is the peak power of each single SW EMI pulse in a round of welding, It is the time series pulse of each single SWEMI in a round of welding, that is, the pulse sequence of each single SW EMI in a round of welding. is the single SW EMI pulse in a round of welding, t i is the delay time of each single SW EMI pulse relative to the first SW EMI pulse in a round of welding, σ S 2 is the average background noise power of stud welding.

[0061] The single-round SW EMI model S(t) is expanded and the arbitrary-round SW EMI model I is constructed based on the following expression: S (t):

[0062]

[0063] Among them, I S (t) is the arbitrary round SW EMI model, S(t) is the single round SW EMI model, t j is the delay time of the jth stud welding process, F is the number of stud welding rounds, σ S 2 is the average background noise power of stud welding.

[0064] Correspondingly, according to the average background noise power σ of arc welding A 2 As well as the pulse time interval, pulse amplitude and pulse duration in the AW EMI model parameters, a single-round AWEMI model A(t) is constructed based on the following expression:

[0065]

[0066] Among them, A(t) is the single-round AW EMI model, N A is the number of welding times in a single round of arc welding, is the peak power of each single AW EMI pulse in a round of welding, It is the time series pulse of each single AW EMI in a round of welding, that is, the pulse sequence of each single AW EMI in a round of welding. is the single AW EMI pulse in a round of welding, t i is the delay time of each single AW EMI pulse relative to the first AW EMI pulse in a round of welding, σ A 2 is the average background noise power of stud welding.

[0067] The single-round AW EMI model A(t) is expanded and the arbitrary-round AW EMI model I is constructed based on the following expression: A (t):

[0068]

[0069] Among them, I A (t) is the arbitrary round AW EMI model, A(t) is the single round AW EMI model, t j is the delay time of the jth round of arc welding, G is the number of arc welding rounds, σ A 2 is the average background noise power of arc welding.

[0070] Figure 8 A schematic diagram of a welding electromagnetic interference model provided in an embodiment of the present application, such as Figure 8 As shown in the figure, it is a schematic diagram of two welding EMI models after removing the average background noise power. Figure 8 (a) The left side is a schematic diagram of the single-round SW EMI model S(t) after removing the average background noise power. Figure 8 (a) The right side shows the second single pulse sequence in the single-round SW EMI model S(t) after removing the average background noise power. Schematic diagram, see Figure 4 , single-round SW EMI model S(t) and SW EMI test data set L S The interference characteristics of the single-round SW EMI in (t) are basically the same, indicating that the constructed single-round SWEMI model S(t) is more accurate.

[0071] Figure 8 (b) The left side is a schematic diagram of the single-round AW EMI model A(t) after removing the average background noise power. Figure 8 (b) The right side shows the second single pulse sequence in the single-round AW EMI model A(t) after removing the average background noise power. Schematic diagram, see Figure 6 , single-round AW EMI model A(t) and AW EMI test data set L A The interference characteristics of the single-round AW EMI in (t) are basically the same, indicating that the constructed single-round AW EMI model A(t) is more accurate.

[0072] In this embodiment, by performing frequency domain measurement and time domain measurement on welding electromagnetic interference, a test data set of welding electromagnetic interference is obtained, and a preset power threshold and a preset pulse duration are obtained. Based on the test data set, it is determined that the welding electromagnetic interference has a specific pulse shape in the time domain of each round of welding. According to the test data of the non-welding period during the entire welding electromagnetic interference measurement process, the average background noise power is determined, and according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power, the pulse time interval, pulse amplitude and pulse duration of the welding electromagnetic interference are determined, and the pulse time interval, pulse amplitude and pulse duration are used as model parameters of the welding electromagnetic interference model. According to the model parameters and the average background noise power, since the welding electromagnetic interference has a specific pulse shape in the time domain of each round of welding, the welding electromagnetic interference is modeled according to the time series, and the welding electromagnetic interference model is accurately constructed.

[0073] The following is a detailed description of the process of determining the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration, and the average background noise power.

[0074] Fig. 9 A schematic diagram of a flow chart of determining model parameters of a welding electromagnetic interference model according to an electromagnetic interference modeling method provided in an embodiment of the present application, such as Fig. 9 As shown, the step of determining the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power in the above step S103 includes:

[0075] S901. Determine each welding electromagnetic interference pulse sequence in each round of welding according to a test data set, a preset power threshold, and a preset pulse duration.

[0076] Optionally, continue to refer to Figure 4 and Figure 5 , the test data set L of SW EMI s (t) includes not only the test data of multiple welding in each round of stud welding, but also the background noise. In order to avoid the influence of some high-power background noise on the determination of SWEMI model parameters, according to the test data set L of SW EMI s (t), preset power threshold T for stud welding S And the preset pulse duration D, for the SWEMI test data set L s (t) Screening is performed to determine each SW EMI pulse sequence in each round of stud welding.

[0077] Among them, each SW EMI pulse sequence in each round of stud welding is expressed as N sis the number of welds in a single round of stud welding.

[0078] Accordingly, continue to refer to Figure 6 and Figure 7 , AW EMI test data set L A (t) includes not only the test data of multiple welding in each round of arc welding, but also the background noise. In order to avoid the influence of some high-power background noise on the determination of AW EMI model parameters, it is necessary to use the test data set L of AW EMI A (t), preset power threshold T for arc welding A And the preset pulse duration D, the test data set L for AW EMI A (t) Screening is performed to determine each AW EMI pulse sequence in each round of arc welding.

[0079] Among them, each AW EMI pulse sequence in each round of arc welding is expressed as N A is the number of welds in a single round of arc welding.

[0080] S902: Determine the power of each welding electromagnetic interference pulse in each round of welding according to the test data set, the welding electromagnetic interference pulse sequence and the average background noise power.

[0081] Optionally, according to the test data set L of SW EMI s (t), each SWEMI pulse sequence in each round of stud welding and the average background noise power of stud welding σ S 2 , the test data set L without SW EMI s The influence of the background noise in (t) on the power of each SW EMI pulse in each SW EMI pulse sequence in each round of stud welding is obtained, and the power of each SW EMI pulse after removing the background noise of stud welding is obtained. A (t), each AW EMI pulse sequence in each round of arc welding and the average background noise power of arc welding σ A 2 , test data set L without AW EMI A The influence of the background noise in (t) on the power of each AW EMI pulse in each AW EMI pulse sequence in each round of arc welding is obtained, and the power of each AW EMI pulse is obtained after removing the background noise of arc welding.

[0082] S903. Perform power normalization processing on each welding electromagnetic interference pulse sequence according to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse, and determine each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0083] Optionally, according to each SW EMI pulse sequence in each round of stud welding and the power of each SW EMI pulse after removing the background noise of stud welding, each SW EMI pulse sequence is power normalized to align each SW EMI pulse sequence in each round of stud welding, and obtain each target SW EMI pulse sequence in each round of stud welding, each target peak power of each SW EMI pulse in each round of stud welding, and each target delay time of each SW EMI pulse in each round of stud welding. Correspondingly, according to each AW EMI pulse sequence in each round of arc welding and the power of each AW EMI pulse after removing the background noise of arc welding, each AW EMI pulse sequence is power normalized to align each AW EMI pulse sequence in each round of arc welding, and obtain each target AW EMI pulse sequence in each round of arc welding, each target peak power of each AW EMI pulse in each round of arc welding, and each target delay time of each AW EMI pulse in each round of arc welding.

[0084] S904, determining model parameters of the welding electromagnetic interference model according to each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0085] Optionally, according to each target SW EMI pulse sequence in each round of stud welding, the target peak power of each target SW EMI pulse in each round of stud welding, and the target delay time of each target SW EMI pulse in each round of stud welding, the mean pulse duration, pulse amplitude, and pulse time interval in the model parameters of the SW EMI model are respectively determined, so as to construct a mean time series model of SW EMI according to the model parameters of the mean.

[0086] Accordingly, according to each target AW EMI pulse sequence in each round of arc welding, the target peak power of each target AW EMI pulse in each round of arc welding, and the target delay time of each target AW EMI pulse in each round of arc welding, the mean pulse duration, pulse amplitude, and pulse time interval in the model parameters of the AW EMI model are determined respectively, so as to construct the mean time series model of AW EMI according to the mean model parameters.

[0087] In this embodiment, according to the test data set, the preset power threshold and the preset pulse duration, each welding electromagnetic interference pulse sequence in each round of welding is screened and obtained, and according to the test data set, the welding electromagnetic interference pulse sequence and the average background noise power, the influence of the background noise in the test data set on the power of each welding electromagnetic interference pulse is removed, and the power of each welding electromagnetic interference pulse in each round of welding is determined. According to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse after removing the background noise, each welding electromagnetic interference pulse sequence is subjected to power normalization processing, and each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding and the target delay time of each welding electromagnetic interference pulse in each round of welding are determined, and then the pulse duration, pulse amplitude and pulse time interval of the mean in the model parameters of the welding electromagnetic interference model are determined. So as to construct a mean time series model of welding electromagnetic interference according to the model parameters of the mean, and improve the model accuracy.

[0088] The following describes in detail the process of determining each welding electromagnetic interference pulse sequence in each welding round according to the test data set, the preset power threshold and the preset pulse duration.

[0089] Fig.10 A schematic diagram of a flow chart of determining each welding electromagnetic interference pulse sequence in each round of welding according to the electromagnetic interference modeling method provided in an embodiment of the present application, such as Fig.10 As shown, the step of determining each welding electromagnetic interference pulse sequence in each round of welding according to the test data set, the preset power threshold and the preset pulse duration in the above step S901 includes:

[0090] S1001. Determine each target pulse in each round of welding according to a test data set and a preset power threshold, wherein the power of the target pulse is greater than the preset power threshold.

[0091] Optionally, continue to refer to Figure 4 and Figure 5 , the power of the background noise during stud welding is much smaller than the power of the SW EMI pulse. According to the test data set L of SW EMI s (t) and the preset power threshold T for stud welding S , through power screening, determine each target SW EMI pulse in each round of stud welding. Specifically, the pulse power is greater than the preset power threshold T of stud welding. S The pulse is used as the target SW EMI pulse in stud welding, that is, the pulse with a power greater than -111dBm is used as the target SW EMI pulse in stud welding.

[0092] Accordingly, continue to refer to Figure 6 and Figure 7, the power of the background noise in the arc welding process is also much smaller than the power of the AW EMI pulse. According to the test data set L of AW EMI A (t) and the preset power threshold T of arc welding A , through power screening, determine each target AW EMI pulse in each round of arc welding. Specifically, the pulse power is greater than the preset power threshold T of arc welding. A The pulse is used as the target AW EMI pulse in arc welding, that is, the pulse with a power greater than -113dBm is used as the target AW EMI pulse in arc welding.

[0093] S1002. Determine each welding electromagnetic interference pulse sequence in each round of welding according to the test data set, the preset pulse duration and each target pulse in each round of welding, wherein the pulse duration of each welding electromagnetic interference pulse in the welding electromagnetic interference pulse sequence is greater than the preset pulse duration.

[0094] Optionally, continue to refer to Figure 4 and Figure 5 , the duration of the background noise in the stud welding process is much shorter than the pulse duration of the SWEMI pulse. According to the test data set L of SW EMI s (t) and a preset pulse duration D, and through pulse duration screening, each SW EMI pulse in each round of stud welding is determined from each target SW EMI pulse in each round of stud welding, and then each SW EMI pulse sequence in each round of stud welding is determined. Specifically, a pulse with a pulse duration greater than the preset pulse duration D is used as the SW EMI pulse in the stud welding, that is, a pulse with a pulse duration greater than 50 milliseconds is used as the SW EMI pulse in the stud welding, and then each SWEMI pulse sequence in each round of stud welding is obtained.

[0095] Accordingly, continue to refer to Figure 6 and Figure 7 , the duration of background noise in arc welding is much shorter than the pulse duration of AWEMI pulse. According to the test data set L of AW EMI A (t) and preset pulse duration D, through pulse duration screening, each AW EMI pulse in each round of arc welding is determined from each target AW EMI pulse in each round of arc welding, and then each AW EMI pulse sequence in each round of arc welding is determined. Specifically, a pulse with a pulse duration greater than the preset pulse duration D is used as an AW EMI pulse in arc welding, that is, a pulse with a pulse duration greater than 50 milliseconds is used as an AW EMI pulse in arc welding, and then each AW EMI pulse sequence in each round of arc welding is obtained.

[0096] In this embodiment, firstly, according to the test data set and the preset power threshold, each target welding electromagnetic interference pulse in each round of welding is determined through power screening, and the pulse whose power is greater than the preset power threshold is used as the target pulse in each round of welding. Then, according to the test data set and the preset pulse duration, each welding electromagnetic interference pulse in each round of welding is determined from each target pulse in each round of welding through pulse duration screening, and then each welding electromagnetic interference pulse sequence in each round of welding is determined. Through power screening and pulse time screening, the background noise in the test data set is eliminated, and the accuracy of each welding electromagnetic interference pulse sequence in each round of welding is improved.

[0097] The following describes in detail the process of determining the power of each welding electromagnetic interference pulse in each round of welding according to the test data set, the welding electromagnetic interference pulse sequence and the average background noise power.

[0098] Fig.11 A schematic diagram of a flow chart of determining the power of each welding electromagnetic interference pulse in each round of welding according to the electromagnetic interference modeling method provided in an embodiment of the present application, such as Fig.11 As shown, the step of determining the power of each welding electromagnetic interference pulse in each round of welding according to the test data set, the welding electromagnetic interference pulse sequence and the average background noise power in the above step S902 includes:

[0099] S1101. Determine the initial power of each welding electromagnetic interference pulse in a welding electromagnetic interference pulse sequence according to a test data set.

[0100] Optionally, according to the test data set L of SW EMI s (t) and each SW EMI pulse sequence in each round of stud welding, determine the initial power of each SW EMI pulse, where the initial power value of the SW EMI pulse will be affected by the background noise of the stud welding, and the unit of the initial power of the SW EMI pulse is dBm. Accordingly, according to the test data set L of AW EMI A (t) and each AW EMI pulse sequence in each round of arc welding, determine the initial power of each AW EMI pulse, wherein the initial power value of the AW EMI pulse will be affected by the background noise of the arc welding, and the unit of the initial power of the AW EMI pulse is dBm.

[0101] S1102, converting the initial power of the welding electromagnetic interference pulse into the initial actual power of the welding electromagnetic interference pulse.

[0102] Optionally, through power value conversion, the initial power of the SW EMI pulse is converted into the initial actual power of the SW EMI pulse, so that the unit of the initial actual power of the SW EMI pulse is dB; the initial power of the AW EMI pulse is converted into the initial actual power of the AW EMI pulse, so that the unit of the initial actual power of the AW EMI pulse is dB.

[0103] S1103. Taking the difference between the initial actual power of the welding electromagnetic interference pulse and the average background noise power as the actual power of the welding electromagnetic interference pulse.

[0104] Optionally, in order to remove the influence of the background noise of the stud welding on the power of the SW EMI pulse, the average background noise power σ of the stud welding is subtracted from the initial actual power of the SW EMI pulse. S 2 , the initial actual power of the SW EMI pulse and the average background noise power of the stud welding σ S 2 The difference is taken as the actual power of the SW EMI pulse after removing the background noise of stud welding. Accordingly, in order to remove the influence of arc welding background noise on the power of AW EMI pulse, the average background noise power σ of arc welding is subtracted from the initial actual power of AW EMI pulse. A 2 , the initial actual power of the AW EMI pulse and the average background noise power of the arc welding σ A 2 The difference is taken as the actual power of the AW EMI pulse after removing the background noise of arc welding.

[0105] S1104. Determine the power of the welding electromagnetic interference pulse according to the actual power of the welding electromagnetic interference pulse.

[0106] Optionally, by power value conversion, the actual power of the SW EMI pulse is converted into the power of the SW EMI pulse, so that the unit of the power of the SW EMI pulse is dBm, and the power of the SW EMI pulse is the power of the SW EMI pulse after the background noise of the stud welding is removed, thereby eliminating the influence of the background noise of the stud welding on the power of the SW EMI pulse. Accordingly, the actual power of the AW EMI pulse is converted into the power of the AW EMI pulse, so that the unit of the power of the AW EMI pulse is dBm, thereby eliminating the influence of the background noise of the arc welding on the power of the AW EMI pulse.

[0107] In this embodiment, the initial power of each welding electromagnetic interference pulse is determined according to the test data set and each welding electromagnetic interference pulse sequence in each round of welding, and the initial power of the welding electromagnetic interference pulse is converted into the initial actual power of the welding electromagnetic interference pulse by power value conversion. The average background noise power is subtracted from the initial actual power of the welding electromagnetic interference pulse, and the difference between the initial actual power of the welding electromagnetic interference pulse and the average background noise power is used as the actual power of the welding electromagnetic interference pulse, and the actual power of the welding electromagnetic interference pulse is converted into the power of the welding electromagnetic interference pulse by power value conversion again. The influence of background noise on the power of the welding electromagnetic interference pulse is eliminated.

[0108] Below, the process of performing power normalization processing on each welding electromagnetic interference pulse sequence according to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse, determining each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding is described in detail.

[0109] Fig.12 A schematic diagram of a flow chart of determining a target welding electromagnetic interference pulse sequence, a target peak power, and a target delay time according to an electromagnetic interference modeling method provided in an embodiment of the present application, such as Fig.12 As shown, in the above step S903, according to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse, each welding electromagnetic interference pulse sequence is subjected to power normalization processing, and each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding are determined, including:

[0110] S1201. Determine the power peak value of each welding electromagnetic interference pulse according to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse.

[0111] Optionally, according to each SW EMI pulse sequence and the power of each SW EMI pulse in each round of stud welding, the maximum power of each SW EMI pulse is obtained by traversal, and the maximum power of each SW EMI pulse is used as the peak power of each SW EMI pulse. Correspondingly, according to each AW EMI pulse sequence and the power of each AW EMI pulse in each round of arc welding, the maximum power of each AW EMI pulse is obtained by traversal, and the maximum power of each AW EMI pulse is used as the peak power of each AW EMI pulse.

[0112] S1202, taking the quotient of the welding electromagnetic interference pulse and the power peak of the welding electromagnetic interference pulse as each normalized welding electromagnetic interference pulse, to obtain each normalized welding electromagnetic interference pulse sequence.

[0113] Optionally, the SW EMI pulse is divided by the peak power of the SW EMI pulse to obtain the quotient of the SW EMI pulse and the peak power of the SW EMI pulse, the quotient of the SW EMI pulse and the peak power of the SW EMI pulse is used as each normalized SW EMI pulse, and each normalized SW EMI pulse sequence is obtained according to each normalized SW EMI pulse. Correspondingly, the AW EMI pulse is divided by the peak power of the AW EMI pulse to obtain the quotient of the AW EMI pulse and the peak power of the AW EMI pulse, the quotient of the AW EMI pulse and the peak power of the AW EMI pulse is used as each normalized AW EMI pulse, and each normalized AW EMI pulse sequence is obtained according to each normalized AW EMI pulse.

[0114] S1203. Determine the target peak power of each welding electromagnetic interference pulse and the target delay time of each welding electromagnetic interference pulse according to each normalized welding electromagnetic interference pulse.

[0115] Optionally, according to each normalized SW EMI pulse, the target peak power of each SW EMI pulse is obtained by averaging the peak power of each normalized SW EMI pulse; the target delay time of each SW EMI pulse is obtained by averaging the delay time of each normalized SW EMI pulse. Correspondingly, according to each normalized AW EMI pulse, the target peak power of each AW EMI pulse is obtained by averaging the peak power of each normalized AW EMI pulse; the target delay time of each AW EMI pulse is obtained by averaging the delay time of each normalized AW EMI pulse.

[0116] S1204. Determine each target welding electromagnetic interference pulse sequence in each round of welding according to each normalized welding electromagnetic interference pulse sequence.

[0117] Optionally, the average value of each normalized SW EMI pulse sequence in each round of stud welding is calculated, the average value of each normalized SW EMI pulse sequence in each round of stud welding is determined, and the average value is used as each target SW EMI pulse sequence in each round of stud welding. Correspondingly, the average value of each normalized AW EMI pulse sequence in each round of arc welding is calculated, the average value of each normalized AW EMI pulse sequence in each round of arc welding is determined, and the average value is used as each target AW EMI pulse sequence in each round of arc welding. Wherein, the target SW EMI pulse sequence and the target AW EMI pulse sequence are both mean pulse sequences.

[0118] In this embodiment, according to the power of each welding electromagnetic interference pulse sequence and each welding electromagnetic interference pulse sequence in each round of welding, the maximum power of each welding electromagnetic interference pulse is traversed and obtained, and the maximum power of each welding electromagnetic interference pulse is used as the power peak of each welding electromagnetic interference pulse. The quotient of the welding electromagnetic interference pulse and the power peak of the welding electromagnetic interference pulse is used as each normalized welding electromagnetic interference pulse, and each normalized welding electromagnetic interference pulse sequence is obtained according to each normalized welding electromagnetic interference pulse. According to each normalized welding electromagnetic interference pulse, the peak power and delay time of each normalized welding electromagnetic interference pulse are respectively averaged to obtain the target peak power of each welding electromagnetic interference pulse and the target delay time of each welding electromagnetic interference pulse. And the average value of each normalized welding electromagnetic interference pulse sequence is calculated to determine the average value of each normalized welding electromagnetic interference pulse sequence in each round of welding, and the average value of each normalized welding electromagnetic interference pulse sequence in each round of welding is used as each target welding electromagnetic interference pulse sequence in each round of welding. The target peak powers, target delay times and target welding electromagnetic interference pulse sequences of the mean are determined, so as to construct a mean time series model of welding electromagnetic interference based on the target peak powers, target delay times and target welding electromagnetic interference pulse sequences of the mean.

[0119] The following describes in detail the process of determining the target peak power of each welding electromagnetic interference pulse and the target delay time of each welding electromagnetic interference pulse according to each normalized welding electromagnetic interference pulse.

[0120] Fig.13 A flow chart of determining the target peak power of each welding electromagnetic interference pulse and the target delay time of each welding electromagnetic interference pulse according to the electromagnetic interference modeling method provided in an embodiment of the present application is shown in FIG. Fig.13As shown, the step of determining the target peak power of each welding electromagnetic interference pulse and the target delay time of each welding electromagnetic interference pulse according to each normalized welding electromagnetic interference pulse in the above step S1203 includes:

[0121] S1301. Determine the peak power of each normalized welding electromagnetic interference pulse and the delay time of each normalized welding electromagnetic interference pulse according to each normalized welding electromagnetic interference pulse.

[0122] Optionally, according to each normalized SW EMI pulse sequence, the peak power of each normalized SW EMI pulse and the delay time of each normalized SW EMI pulse are extracted, wherein the peak power of the normalized SW EMI pulse is the maximum power of the normalized SW EMI pulse sequence. Correspondingly, according to each normalized AW EMI pulse sequence, the peak power of each normalized AW EMI pulse and the delay time of each normalized AW EMI pulse are extracted, wherein the peak power of the normalized AW EMI pulse is the maximum power of the normalized AW EMI pulse sequence.

[0123] S1302, taking the average value of the peak power of each normalized welding electromagnetic interference pulse in each round of welding as the target peak power of each welding electromagnetic interference pulse in each round of welding.

[0124] Optionally, the peak power of each normalized SW EMI pulse in each round of stud welding is averaged, the average value of the peak power of each normalized SW EMI pulse in each round of stud welding is determined, and the average value is used as the target peak power of each SW EMI pulse in each round of stud welding. Correspondingly, the peak power of each normalized AW EMI pulse in each arc welding is averaged, the average value of the peak power of each normalized AW EMI pulse in each round of arc welding is determined, and the average value is used as the target peak power of each AW EMI pulse in each round of arc welding. The target peak power is a mean peak power.

[0125] S1303, taking the average value of the delay time of each normalized welding electromagnetic interference pulse in each round of welding as the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0126] Optionally, the average value of the delay time of each normalized SW EMI pulse in each round of stud welding is calculated, and the average value of the delay time of each normalized SW EMI pulse in each round of stud welding is determined, and the average value is used as the target delay time of each SW EMI pulse in each round of stud welding. Correspondingly, the average value of the delay time of each normalized AW EMI pulse in each arc welding is calculated, and the average value of the delay time of each normalized AW EMI pulse in each round of arc welding is determined, and the average value is used as the target delay time of each AW EMI pulse in each round of arc welding. The target delay time is a mean delay time.

[0127] In this embodiment, according to each normalized welding electromagnetic interference pulse, the peak power of each normalized welding electromagnetic interference pulse and the delay time of each normalized welding electromagnetic interference pulse are extracted. The peak power of each normalized welding electromagnetic interference pulse in each round of welding is averaged, and the average value of the peak power of each normalized welding electromagnetic interference pulse in each round of welding is used as the target peak power of each welding electromagnetic interference pulse in each round of welding. The delay time of each normalized welding electromagnetic interference pulse in each round of welding is averaged, and the average value of the delay time of each normalized welding electromagnetic interference pulse in each round of welding is used as the target delay time of each welding electromagnetic interference pulse in each round of welding. Through the average value calculation, the mean peak power and mean delay time of each welding electromagnetic interference pulse are determined.

[0128] The following describes in detail the process of determining the model parameters of the welding electromagnetic interference model according to each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0129] Fig.14 Another flow chart of determining the model parameters of the welding electromagnetic interference model of the electromagnetic interference modeling method provided in the embodiment of the present application is as follows: Fig.14 As shown, the step of determining the model parameters of the welding electromagnetic interference model in the above step S904 according to each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding includes:

[0130] S1401. Determine the pulse duration of each target welding electromagnetic interference pulse in each round of welding according to each target welding electromagnetic interference pulse sequence in each round of welding.

[0131] Optionally, the pulse duration of each target SW EMI pulse in each round of stud welding is determined by pulse characterization of each single SW EMI pulse sequence in a round of welding, that is, the pulse duration of each target SW EMI pulse in each round of stud welding is determined according to each target SW EMI pulse sequence in each round of stud welding. Correspondingly, the pulse duration of each target AW EMI pulse in each round of arc welding is determined by pulse characterization of each single AW EMI pulse sequence in a round of welding, that is, the pulse duration of each target AW EMI pulse in each round of arc welding is determined according to each target AW EMI pulse sequence in each round of arc welding. Among them, the pulse duration of each target SW EMI pulse and the pulse duration of each target AW EMI pulse are both average pulse durations.

[0132] S1402. Determine the pulse amplitude of each welding electromagnetic interference pulse in each round of welding according to the target peak power of each welding electromagnetic interference pulse in each round of welding.

[0133] Optionally, the pulse amplitude is characterized by the power peak value of each single SW EMI pulse in a round of welding, that is, the pulse amplitude of each SW EMI pulse in each round of stud welding is determined according to the target power peak value of each SW EMI pulse in each round of stud welding. Correspondingly, the pulse amplitude is characterized by the power peak value of each single AW EMI pulse in a round of welding, that is, the pulse amplitude of each AW EMI pulse in each round of arc welding is determined according to the target power peak value of each AW EMI pulse in each round of arc welding. Among them, the pulse amplitude of each target SW EMI pulse and the pulse amplitude of each target AW EMI pulse are both average pulse amplitudes.

[0134] S1403, determining the pulse time interval of each welding electromagnetic interference pulse in each round of welding according to the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0135] Optionally, the pulse time interval is characterized by the delay time of each single SW EMI pulse relative to the first SW EMI pulse in a round of welding, that is, the pulse time interval of each SW EMI pulse in each round of stud welding is determined according to the target delay time of each SW EMI pulse in each round of stud welding. Correspondingly, the pulse time interval is characterized by the delay time of each single AW EMI pulse relative to the first AW EMI pulse in a round of welding, that is, the pulse time interval of each AW EMI pulse in each round of arc welding is determined according to the target delay time of each AW EMI pulse in each round of arc welding. Among them, the pulse time interval of each target SW EMI pulse and the pulse time interval of each target AW EMI pulse are both average pulse time intervals.

[0136] In this embodiment, the pulse duration of each target welding electromagnetic interference pulse in each round of welding is determined according to the target welding electromagnetic interference pulse sequence in each round of welding, the pulse amplitude of each welding electromagnetic interference pulse in each round of welding is determined according to the target peak power of each welding electromagnetic interference pulse in each round of welding, and the pulse time interval of each welding electromagnetic interference pulse in each round of welding is determined according to the target delay time of each welding electromagnetic interference pulse in each round of welding. The pulse duration, pulse amplitude and pulse time interval of the mean of each target welding electromagnetic interference pulse are respectively determined so as to determine the model parameters of the mean, and then construct a mean time series model of welding electromagnetic interference.

[0137] Fig.15 A schematic diagram of the flow of verifying the welding electromagnetic interference model of the electromagnetic interference modeling method provided in the embodiment of the present application is shown in FIG. Fig.15 As shown, the electromagnetic interference modeling method also includes:

[0138] S1501. Determine the absolute error between the test data set and the welding electromagnetic interference model according to the test data set and the welding electromagnetic interference model.

[0139] Optionally, according to the test data set L of SW EMI s (t) and extended arbitrary round SW EMI model I S (t), the test data set L of SW EMI is calculated based on the following formula: s (t) and SW EMI Model I S Absolute Error (AE) of (t):

[0140]

[0141] Among them, AE S The test data set L for SW EMI s (t) and SW EMI Model I S The absolute error of (t), L s (t) is the test data set of SWEMI, I S (t) is the arbitrary round SW EMI model, p s (t) is the time series pulse of SW EMI.

[0142] Accordingly, according to the test data set L of AW EMI A (t) and the extended arbitrary round AW EMI model I A (t), the test data set L of AW EMI is calculated based on the following formula: A (t) and AW EMI Model I A Absolute error of (t):

[0143]

[0144] Among them, AE A The test data set L for AW EMI A (t) and AW EMI Model I A The absolute error of (t), L A (t) is the test data set of AWEMI, I A (t) is any round AW EMI model, p A (t) is the time series pulse of AW EMI.

[0145] S1502. Draw a cumulative distribution function graph of the absolute error based on the absolute error.

[0146] Optionally, according to the test data set L of SW EMI s (t) and SW EMI Model I S The absolute error AE of (t) S , draw the Cumulative Distribution Function (CDF) of the absolute error of SW EMI, and according to the test data set L of AW EMI A (t) and AW EMI Model I A The absolute error AE of (t) A , draw the CDF graph of AW EMI. Fig.16 The cumulative distribution function diagram of the absolute error of the welding electromagnetic interference model provided in the embodiment of the present application is as follows: Fig.16 As shown, Fig.16 (a) is the CDF diagram of SW EMI, Fig.16 (b) is the CDF diagram of AW EMI.

[0147] S1503. Verify the welding electromagnetic interference model according to the cumulative distribution function diagram.

[0148] Optionally, continue to refer to Fig.16 (a) AE of SW EMI at the 90th, 95th, and 99th percentiles S The AE of SW EMI is 0.71dB, 0.89dB and 1.17dB respectively, which verifies the SW EMI model. S It is mainly concentrated within 1dB, which means that the constructed SW EMI model is relatively accurate and meets the communication requirements.

[0149] Accordingly, continue to refer to Fig.16 (b) AE of the 90th, 95th, and 99th percentiles of AW EMI AThey are 2.47dB, 3dB, and 3.85dB respectively, which verifies the AW EMI model. The AE of AW EMI A The AE of the AW EMI model is mainly concentrated within 3dB, indicating that the constructed AW EMI model is also relatively accurate and meets the communication requirements. A AE than SW EMI S The main reason is that arc welding is sliding welding, and the friction with the metal surface will cause large fluctuations in AW EMI.

[0150] In this embodiment, according to the test data set and the welding electromagnetic interference model, the absolute error between the test data set and the welding electromagnetic interference model is calculated, and the cumulative distribution function diagram of the absolute error is drawn according to the absolute error between the test data set and the welding electromagnetic interference model. According to the absolute error values ​​of the 90% quantile, 95% quantile and 99% quantile in the cumulative distribution function diagram of the absolute error, the accuracy of the welding electromagnetic interference model is verified.

[0151] Based on the same inventive concept, an electromagnetic interference modeling device corresponding to the electromagnetic interference modeling method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned electromagnetic interference modeling method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0152] Fig.17 The module structure diagram of the electromagnetic interference modeling device provided in the embodiment of the present application is as follows: Fig.17 As shown, the device comprises:

[0153] The acquisition module 1701 is used to acquire a test data set of welding electromagnetic interference, a preset power threshold and a preset pulse duration, wherein the test data set includes test data of multiple weldings in each round of welding.

[0154] The determination module 1702 is used to determine the average background noise power according to the test data set.

[0155] Determination module 1702 is also used to determine the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power. The welding electromagnetic interference model is a time series model, and the model parameters include pulse time interval, pulse amplitude and pulse duration.

[0156] The construction module 1703 is used to construct a welding electromagnetic interference model according to the model parameters and the average background noise power.

[0157] As an optional implementation, the determination module 1702 is specifically configured to:

[0158] Each welding electromagnetic interference pulse sequence in each round of welding is determined according to the test data set, the preset power threshold and the preset pulse duration.

[0159] The power of each welding electromagnetic interference pulse in each round of welding is determined according to the test data set, the welding electromagnetic interference pulse sequence and the average background noise power.

[0160] According to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse, each welding electromagnetic interference pulse sequence is power normalized to determine each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0161] The model parameters of the welding electromagnetic interference model are determined according to each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0162] As an optional implementation, the determination module 1702 is specifically configured to:

[0163] According to the test data set and the preset power threshold, each target pulse in each round of welding is determined, and the power of the target pulse is greater than the preset power threshold.

[0164] According to the test data set, the preset pulse duration and each target pulse in each round of welding, each welding electromagnetic interference pulse sequence in each round of welding is determined, and the pulse duration of each welding electromagnetic interference pulse in the welding electromagnetic interference pulse sequence is greater than the preset pulse duration.

[0165] As an optional implementation, the determination module 1702 is specifically configured to:

[0166] According to the test data set, the initial power of each welding electromagnetic interference pulse in the welding electromagnetic interference pulse sequence is determined.

[0167] The initial power of the welding electromagnetic interference pulse is converted into the initial actual power of the welding electromagnetic interference pulse.

[0168] The difference between the initial actual power of the welding electromagnetic interference pulse and the average background noise power is taken as the actual power of the welding electromagnetic interference pulse.

[0169] The power of the welding electromagnetic interference pulse is determined according to the actual power of the welding electromagnetic interference pulse.

[0170] As an optional implementation, the determination module 1702 is specifically configured to:

[0171] According to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse, the power peak value of each welding electromagnetic interference pulse is determined.

[0172] The quotient of the welding electromagnetic interference pulse and the power peak of the welding electromagnetic interference pulse is taken as each normalized welding electromagnetic interference pulse to obtain each normalized welding electromagnetic interference pulse sequence.

[0173] According to each normalized welding electromagnetic interference pulse, a target peak power of each welding electromagnetic interference pulse and a target delay time of each welding electromagnetic interference pulse are determined.

[0174] According to each normalized welding electromagnetic interference pulse sequence, each target welding electromagnetic interference pulse sequence in each round of welding is determined.

[0175] As an optional implementation, the determination module 1702 is specifically configured to:

[0176] According to each normalized welding electromagnetic interference pulse, the peak power of each normalized welding electromagnetic interference pulse and the delay time of each normalized welding electromagnetic interference pulse are determined.

[0177] The average value of the peak power of each normalized welding electromagnetic interference pulse in each round of welding is used as the target peak power of each welding electromagnetic interference pulse in each round of welding.

[0178] The average value of the delay time of each normalized welding electromagnetic interference pulse in each round of welding is used as the target delay time of each welding electromagnetic interference pulse in each round of welding.

[0179] As an optional implementation, the determination module 1702 is specifically configured to:

[0180] According to each target welding electromagnetic interference pulse sequence in each round of welding, the pulse duration of each target welding electromagnetic interference pulse in each round of welding is determined.

[0181] The pulse amplitude of each welding electromagnetic interference pulse in each round of welding is determined according to the target peak power of each welding electromagnetic interference pulse in each round of welding.

[0182] According to the target delay time of each welding electromagnetic interference pulse in each round of welding, the pulse time interval of each welding electromagnetic interference pulse in each round of welding is determined.

[0183] As an optional implementation, the determining module 1702 is further configured to:

[0184] According to the test data set and the welding electromagnetic interference model, the absolute error between the test data set and the welding electromagnetic interference model is determined.

[0185] Based on the absolute error, plot the cumulative distribution function of the absolute error.

[0186] The welding electromagnetic interference model is verified based on the cumulative distribution function diagram.

[0187] The present application also provides a computer device, such as Fig.18 1 is a schematic diagram of the structure of a computer device provided in an embodiment of the present application, including: a processor 181, a memory 182 and a bus 183. The memory 182 stores machine-readable instructions executable by the processor 181 (for example, Fig.17 In the device, the execution instructions corresponding to the acquisition module 1701, the determination module 1702 and the construction module 1703 are obtained, etc. When the computer device is running, the processor 181 and the memory 182 communicate through the bus 183. When the machine-readable instructions are executed by the processor 181, the steps of the electromagnetic interference modeling method in the above embodiment are executed.

[0188] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the electromagnetic interference modeling method in the above embodiment are executed.

[0189] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0190] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0191] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for modeling electromagnetic interference, characterized in that: include: Acquire a test data set of welding electromagnetic interference, a preset power threshold, and a preset pulse duration, wherein the test data set includes test data of multiple weldings in each round of welding; Determining an average background noise power according to the test data set; Determine the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power, wherein the welding electromagnetic interference model is a time series model, and the model parameters include pulse time interval, pulse amplitude and pulse duration; The welding electromagnetic interference model is constructed according to the model parameters and the average background noise power.

2. The method according to claim 1, characterized in that Determining the model parameters of the welding electromagnetic interference model according to the test data set, the preset power threshold, the preset pulse duration and the average background noise power includes: Determining each welding electromagnetic interference pulse sequence in each round of welding according to the test data set, the preset power threshold and the preset pulse duration; Determining the power of each welding electromagnetic interference pulse in each round of welding according to the test data set, the welding electromagnetic interference pulse sequence and the average background noise power; According to the welding electromagnetic interference pulse sequences and the powers of the welding electromagnetic interference pulses, power normalization processing is performed on the welding electromagnetic interference pulse sequences to determine the target welding electromagnetic interference pulse sequences in each round of welding, the target peak powers of the welding electromagnetic interference pulses in each round of welding, and the target delay times of the welding electromagnetic interference pulses in each round of welding; The model parameters of the welding electromagnetic interference model are determined according to each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding.

3. The method according to claim 2, characterized in that Determining each welding electromagnetic interference pulse sequence in each round of welding according to the test data set, the preset power threshold and the preset pulse duration includes: Determining each target pulse in each round of welding according to the test data set and the preset power threshold, wherein the power of the target pulse is greater than the preset power threshold; According to the test data set, the preset pulse duration and each target pulse in each round of welding, each welding electromagnetic interference pulse sequence in each round of welding is determined, and the pulse duration of each welding electromagnetic interference pulse in the welding electromagnetic interference pulse sequence is greater than the preset pulse duration.

4. The method according to claim 2, characterized in that: The step of determining the power of each welding electromagnetic interference pulse in each round of welding according to the test data set, the welding electromagnetic interference pulse sequence and the average background noise power comprises: Determining the initial power of each welding electromagnetic interference pulse in the welding electromagnetic interference pulse sequence according to the test data set; Converting the initial power of the welding electromagnetic interference pulse into the initial actual power of the welding electromagnetic interference pulse; Taking the difference between the initial actual power of the welding electromagnetic interference pulse and the average background noise power as the actual power of the welding electromagnetic interference pulse; The power of the welding electromagnetic interference pulse is determined according to the actual power of the welding electromagnetic interference pulse.

5. The method according to claim 2, characterized in that: The method comprises: performing power normalization processing on each welding electromagnetic interference pulse sequence according to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse to determine each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding, including: Determining the power peak value of each welding electromagnetic interference pulse according to each welding electromagnetic interference pulse sequence and the power of each welding electromagnetic interference pulse; taking the quotient of the welding electromagnetic interference pulse and the power peak value of the welding electromagnetic interference pulse as the normalized welding electromagnetic interference pulse, to obtain each normalized welding electromagnetic interference pulse sequence; Determining the target peak power of each welding electromagnetic interference pulse and the target delay time of each welding electromagnetic interference pulse according to each normalized welding electromagnetic interference pulse; According to the normalized welding electromagnetic interference pulse sequences, each target welding electromagnetic interference pulse sequence in each round of welding is determined.

6. The method according to claim 5, characterized in that Determining the target peak power of each welding electromagnetic interference pulse and the target delay time of each welding electromagnetic interference pulse according to each normalized welding electromagnetic interference pulse includes: According to each normalized welding electromagnetic interference pulse, determining the peak power of each normalized welding electromagnetic interference pulse and the delay time of each normalized welding electromagnetic interference pulse; The average value of the peak power of each normalized welding electromagnetic interference pulse in each round of welding is used as the target peak power of each welding electromagnetic interference pulse in each round of welding; The average value of the delay time of each normalized welding electromagnetic interference pulse in each round of welding is used as the target delay time of each welding electromagnetic interference pulse in each round of welding.

7. The method according to claim 2, characterized in that Determining the model parameters of the welding electromagnetic interference model according to each target welding electromagnetic interference pulse sequence in each round of welding, the target peak power of each welding electromagnetic interference pulse in each round of welding, and the target delay time of each welding electromagnetic interference pulse in each round of welding includes: Determining the pulse duration of each target welding electromagnetic interference pulse in each round of welding according to each target welding electromagnetic interference pulse sequence in each round of welding; Determining the pulse amplitude of each welding electromagnetic interference pulse in each round of welding according to the target peak power of each welding electromagnetic interference pulse in each round of welding; According to the target delay time of each welding electromagnetic interference pulse in each round of welding, the pulse time interval of each welding electromagnetic interference pulse in each round of welding is determined.

8. The method according to claim 1, characterized in that The method further comprises: Determining an absolute error between the test data set and the welding electromagnetic interference model according to the test data set and the welding electromagnetic interference model; According to the absolute error, a cumulative distribution function graph of the absolute error is plotted; The welding electromagnetic interference model is verified according to the cumulative distribution function diagram.

9. A computer device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the electromagnetic interference modeling method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the electromagnetic interference modeling method according to any one of claims 1 to 8 are executed.

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