Establishing method for all-position swing welding automatic welding heat source model of long oil and gas conveying pipeline

Abstract

The invention belongs to the field of long oil and gas pipeline welding, particularly relates to a method for establishing an all-position swing welding automatic welding heat source model of a long oil and gas pipeline, and aims to solve the problem that the welding quality of the long oil and gas pipeline is reduced due to welding defects caused by the fact that the prior art is not suitable for a complex welding track. The method comprises the following steps: constructing a welding finite element model of the long oil and gas pipeline; initializing input parameters of the all-position swing welding automatic welding heat source model of the long oil and gas conveying pipeline at different welding positions; constructing an all-position swing welding automatic welding heat source model; total heat input is calculated; and three-dimensional coordinates of the position where the welding heat source is located under the local coordinate system are obtained, the total heat input is combined, the energy value of the welding heat source under the corresponding welding position is obtained through the all-position swing welding automatic welding heat source model, then the temperature of the corresponding welding position is obtained, and an overall temperature field is obtained. The welding quality of the long oil and gas conveying pipeline is improved.

Description

Background Art

[0002] With the gradual increase in the country's demand for clean energy, the mileage of long-distance oil and gas pipelines in China has been increasing year by year. The strength grade, pipe diameter, wall thickness, and transmission pressure of steel pipes used in pipeline construction have been gradually improved. Therefore, higher requirements are put forward for the quality of pipeline girth welds and welding construction technology. The all-position weaving automatic welding technology for pipelines will gradually become the main method for welding long-distance oil and gas pipelines in the future. At present, the generation of welding defects (mainly lack of fusion defects) is one of the main problems restricting the further development of the all-position weaving automatic welding technology for pipelines. Understanding the temperature field distribution characteristics of the all-position weaving automatic welding of pipelines is of great help in solving the above problems. Establishing a heat source model suitable for the all-position weaving automatic welding of long-distance pipelines is the basis for understanding the temperature field distribution characteristics of this welding method.

[0003] Compared with the stringer bead welding process, during the all-position weaving automatic welding of pipelines, the welding torch swings left and right while moving forward, presenting a "zigzag" movement trajectory. During the all-position welding process of pipelines, usually the starting arc position of welding is at the "12 o'clock" position, and the ending arc position is at the 6 o'clock position. The welding process parameters at different positions during this movement are different. Research shows that welding defects usually appear in the position from "3 o'clock" to "6 o'clock". Therefore, when establishing the heat source model for the all-position weaving automatic welding of pipelines, it is necessary to consider the movement trajectory of the welding torch, that is, the "zigzag" movement trajectory, and the changes in process parameters at different positions. Establishing a heat source for the all-position weaving automatic welding of pipelines requires at least 7 parameters in the model, including welding current, welding voltage, welding torch travel speed, welding torch swing width (referred to as swing width for short), welding torch swing speed (referred to as swing speed for short), edge dwell time, and welding position. In the current research on heat source models suitable for the all-position weaving automatic welding of long-distance oil and gas pipelines, the movement trajectory of the weaving heat source is mostly "zigzag" or other movement trajectories different from actual welding. The existing heat sources are mostly suitable for flat welding and lack the combination of the process characteristics of all-position pipeline welding. Moreover, the movement of the existing heat sources often requires presetting the equation of the heat source movement trajectory, and it is often difficult to obtain the heat source movement trajectory equation for complex structures. It is difficult to define the heat source trajectory in complex components. At present, no welding heat source model that can comprehensively consider the above 7 process parameters has been seen. Summary of the Invention

[0004] In order to solve the above problems in the prior art, that is, the prior art cannot be applied to complex welding trajectories, resulting in the generation of welding defects during the welding process, thereby reducing the welding quality of long-distance oil and gas pipelines. In the first aspect of the present invention, a method for establishing a heat source model for the all-position weaving automatic welding of long-distance oil and gas pipelines is provided, which is used to construct a heat source model for the all-position weaving automatic welding, and then obtain the energy value at the corresponding welding position to obtain the overall temperature field, including:

[0005] Step S1, construct a welding finite element model for long-distance oil and gas pipelines;

[0006] Step S2, initialize the input parameters of the all-position weaving automatic welding heat source model for long-distance oil and gas pipelines at different welding positions; the input parameters include welding current, welding voltage, welding speed, weaving width, weaving time, and edge dwell time; the welding position is the position from 3 o'clock to 6 o'clock of the zigzag movement trajectory of the welding torch in the all-position weaving automatic welding process of long-distance oil and gas pipelines;

[0007] Step S3, based on the input parameters, combined with the welding finite element model, construct a local coordinate system of the double ellipsoid heat source model; according to the three-dimensional coordinates of the welding heat source in the local coordinate system, construct an all-position weaving automatic welding heat source model;

[0008] Step S4, define the spatial position of the welding heat source during all-position welding according to the heat source travel time; calculate the total heat input based on the input parameters corresponding to the spatial position; the spatial position is the welding position;

[0009] Step S5, obtain the three-dimensional coordinates of the position of the welding heat source in the local coordinate system according to the travel trajectory of the welding torch in the all-position weaving automatic welding of long-distance pipelines, and combined with the total heat input, through the all-position weaving automatic welding heat source model, obtain the energy value of the welding heat source at the corresponding welding position; according to the energy value, obtain the temperature at the corresponding welding position, and further obtain the overall temperature field.

[0010] In some preferred embodiments, the mesh size of the welding finite element model is less than 0.5 mm.

[0011] In some preferred embodiments, the double ellipsoid heat source model is:

[0012]

[0013]

[0014] where q f (x, y, z), q r (x, y, z) respectively represent the heat flux density distribution of the front half ellipsoid and the heat flux density distribution of the rear half ellipsoid, U represents the welding voltage, I represents the welding current, b h , c h respectively represent the double ellipsoid heat source parameters, a f , a r respectively represent the lengths of the front half ellipsoid and the rear half ellipsoid, η represents the welding heat efficiency value, x, y, z represent the coordinates of the center of the welding heat source, b h , c h respectively represent the semi-melting width of the double ellipsoid and the depth of the double ellipsoid model.

[0015] In some preferred embodiments, the local coordinate system of the double ellipsoidal heat source model satisfies the right-hand rule; the Y0 direction of the local coordinate system of the double ellipsoidal heat source model is the linear travel direction of the welding heat source, the X0 direction is the direction from the welding line to the reference line, the reference line is a straight line parallel to the welding line, and the Z0 direction is determined by the right-hand rule; the local coordinate system of the double ellipsoidal heat source model moves linearly along any set finite element welding line; the X0 direction, Y0 direction, and Z0 direction are respectively the initial X, Y, and Z directions of the welding heat source center.

[0016] In some preferred embodiments, according to the three-dimensional coordinates of the welding heat source in the local coordinate system, a full-position swing welding automatic welding heat source model is constructed, and the method is as follows:

[0017] Convert the three-dimensional coordinates in the local coordinate system to three-dimensional coordinates in the global coordinate system;

[0018] Based on the three-dimensional coordinates in the global coordinate system, construct a full-position swing welding automatic welding heat source model; the full-position swing welding automatic welding heat source model is used to calculate the energy value of the corresponding welding position;

[0019] Among them, the full-position swing welding automatic welding heat source model is:

[0020] F = QB1 * V1 * V2 * V3

[0021] QB1 = QTOTAL / P1 / B / C * 12.0 / (AR + AF) * 1.732

[0022] V1 = EXP((YL * YL) / (AC * AC) * M1 * M2)

[0023]

[0024] V2 = EXP((XL * XL) / B * B * M1 * M2)

[0025] V3 = EXP((ZL * ZL) / (C * C) * 3.0 * M1)

[0026] Among them, F represents the energy value, QTOTAL represents the total heat input, B represents the width of the double ellipsoidal heat source model, C represents the thickness of the double ellipsoidal heat source model, VY represents the welding speed, XL, YL, and ZL respectively represent the X, Y, and Z coordinates of the welding heat source in the global coordinate system, AR, AF are a f 、a r , P1 represents, and M1 and M2 both represent set coefficients.

[0027] In some preferred embodiments, the three-dimensional coordinates in the local coordinate system are converted into three-dimensional coordinates in the global coordinate system by:

[0028] XL=XD*COS(AY)+ZD*(-SIN(AY))

[0029] YL=YY–YD

[0030] ZL=ZD*CA-XD*SA

[0031] Among them, XD, YD, and ZD represent the X, Y, and Z coordinates of the welding heat source in the local coordinate system, YY represents the current Y coordinate of the welding heat source, CA and SA represent the cosine value and the negative sine value of the rotation angle, respectively, and AY represents the rotation angle.

[0032] In some preferred embodiments, the total heat input is calculated as follows:

[0033] QTOTAL=I*U*EFF / PI

[0034] Wherein, EFF represents thermal efficiency.

[0035] In some preferred embodiments, the welding gun travel trajectory includes four stages in one cycle, namely, a left edge stay stage, a rightward swing stage, a right edge stay stage, and a leftward swing stage;

[0036] Among them, in the left edge stay stage, the straight-line driving speed VX remains unchanged and the swing speed value is set to zero; in the rightward swing stage, the straight-line driving speed VX and the swing speed are both panel setting values ​​and remain unchanged; in the right edge stay stage, the straight-line driving speed VX remains unchanged and the swing speed value is set to zero; in the leftward swing stage, the straight-line driving speed VX maintains the panel setting value, and the welding speed VY is the opposite of the panel setting value; the panel is a display screen for welding settings.

[0037] In some preferred embodiments, the three-dimensional coordinates of the position of the welding heat source in the local coordinate system are obtained according to the welding gun driving trajectory of the long-distance pipeline full-position swing welding automatic welding, and the method is:

[0038] XD=XX-XF

[0039] ZD=ZZ-Z0

[0040]

[0041] T3=MOD(TT1,KD1) / 100000+[TT / ZHQ-MOD((TT / ZHQ*100000),100000) / 100000]

[0042]

[0043]

[0044] TT3 = MOD(100000 * TT, KD2) / 100000

[0045] T3 = MOD(TT1, KD1) / 100000 + [TT / ZHQ - MOD((TT / ZHQ * 100000), 100000) / 100000]

[0046] Among them, BSH represents the swing time, TT represents the travel time of the heat source, SSL = SL / 2.0, SL represents the swing width, KD1 and KD2 both represent set coefficients, XX and ZZ represent the current X and Z coordinates of the welding heat source, and ZHQ represents half of the welding cycle time.

[0047] In the second aspect of the present invention, a system for establishing a heat source model for all-position oscillating automatic welding of long-distance oil and gas pipelines is proposed, which is used to construct an all-position oscillating automatic welding heat source model, and then obtain the energy value at the corresponding welding position to obtain the overall temperature field. The system includes:

[0048] A finite element model construction module configured to construct a welding finite element model of a long-distance oil and gas pipeline;

[0049] An initialization module configured to initialize the input parameters of the all-position oscillating automatic welding heat source model of the long-distance oil and gas pipeline at different welding positions; the input parameters include welding current, welding voltage, welding speed, swing width, swing time, and edge dwell time; the welding position is the position from 3 o'clock to 6 o'clock of the zigzag movement trajectory of the welding torch in the all-position oscillating automatic welding process of the long-distance oil and gas pipeline;

[0050] A heat source model construction module configured to construct a local coordinate system of a double-ellipsoid heat source model based on the input parameters and in combination with the welding finite element model; and construct an all-position oscillating automatic welding heat source model according to the three-dimensional coordinates of the welding heat source in the local coordinate system;

[0051] A total heat input calculation module configured to define the spatial position of the welding heat source during the all-position welding process according to the travel time of the heat source; and calculate the total heat input based on the input parameters corresponding to the spatial position; the spatial position is the welding position;

[0052] The energy value calculation module is configured to obtain the three-dimensional coordinates of the position of the welding heat source in the local coordinate system according to the travel trajectory of the welding torch in the all-position weaving automatic welding of the long-distance pipeline, and combine the total heat input to obtain the energy value of the welding heat source at the corresponding welding position through the all-position weaving automatic welding heat source model; according to the energy value, obtain the temperature at the corresponding welding position, and further obtain the overall temperature field.

[0053] Advantages of the present invention:

[0054] (1) The present invention can comprehensively consider all welding parameters and weaving process parameters involved in the all-position weaving process of long-distance oil and gas pipelines. The parameter setting is simple and convenient, and it is completely consistent with the actual travel trajectory of the welding torch.

[0055] (2) The present invention can display the differences in welding process parameters at different positions during the all-position welding of the pipeline, achieve complete consistency with the actual all-position weaving automatic welding process of long-distance oil and gas pipelines, and improve the research accuracy; achieve accurate evaluation of the temperature field characteristics of this welding method, help understand the temperature field characteristics of this welding method, reduce the generation of welding defects during welding, and improve the welding quality of long-distance oil and gas pipelines.

[0056] (3) The present invention defines the relationship between the local coordinate system and the global coordinate system, and can realize the movement of the heat source along any complex welding trajectory without calculating the equation of its movement trajectory, solving the problem that it is difficult to obtain the heat source trajectory equation for complex structures. Description of the Drawings

[0057] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present application will become more apparent:

[0058] Figure 1 is a flow chart of a method for establishing an all-position weaving automatic welding heat source model for long-distance oil and gas pipelines according to an embodiment of the present invention. Detailed Embodiments

[0059] The following further describes the present application in detail with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that only parts related to the relevant invention are shown in the drawings for the sake of convenience of description.

[0060] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0061] A method for establishing a full-position oscillating welding automatic welding heat source model of a long-distance oil and gas pipeline in the first embodiment of the present invention is used to construct a full-position oscillating welding automatic welding heat source model, thereby obtaining the energy value at the corresponding welding position and obtaining the overall temperature field, as Figure 1 shown, including:

[0062] Step S1, constructing a welding finite element model of the long-distance oil and gas pipeline;

[0063] Step S2, initializing the input parameters of the full-position oscillating welding automatic welding heat source model of the long-distance oil and gas pipeline at different welding positions; the input parameters include welding current, welding voltage, welding speed, oscillation width, oscillation time, and edge dwell time; the welding position is the position from 3 o'clock to 6 o'clock of the zigzag movement trajectory of the welding torch in the full-position oscillating welding automatic welding process of the long-distance oil and gas pipeline;

[0064] Step S3, based on the input parameters and in combination with the welding finite element model, constructing a local coordinate system of the double ellipsoid heat source model; according to the three-dimensional coordinates of the welding heat source in the local coordinate system, constructing a full-position oscillating welding automatic welding heat source model;

[0065] Step S4, defining the spatial position of the welding heat source during the full-position welding process according to the heat source travel time; calculating the total heat input based on the input parameters corresponding to the spatial position; the spatial position is the welding position;

[0066] Step S5, obtaining the three-dimensional coordinates of the position where the welding heat source is located in the local coordinate system according to the travel trajectory of the welding torch in the full-position oscillating welding automatic welding of the long-distance pipeline, and in combination with the total heat input, obtaining the energy value of the welding heat source at the corresponding welding position through the full-position oscillating welding automatic welding heat source model; according to the energy value, obtaining the temperature magnitude at the corresponding welding position, and further obtaining the overall temperature field.

[0067] In order to more clearly illustrate the method for establishing the full-position oscillating welding automatic welding heat source model of the long-distance oil and gas pipeline of the present invention, each step in the method embodiment of the present invention will be described in detail below with reference to the drawings.

[0068] The object of the present invention is to establish a heat source model that can cover all the welding input parameters of an automatic all-position weaving welding equipment for actual pipelines, including welding current, welding voltage, welding torch travel speed, weaving width, weaving speed, edge dwell time, and welding position. Moreover, the distribution characteristics of the welding temperature field calculated by this heat source model should highly coincide with the measured temperature field characteristics. That is, based on the double-ellipsoid heat source model, the present invention will establish an automatic all-position weaving welding heat source model for long-distance oil and gas pipelines that can simultaneously consider 7 process parameters, namely welding current, welding voltage, welding torch travel speed, weaving width, weaving speed, edge dwell time, and welding position, by defining a local coordinate system, coordinate transformation, and developing a FORTRAN algorithm. The heat source model is applicable to complex welding trajectories and meets the process characteristics of all-position pipeline welding. And the developed program will be coupled to the finite element software (SYSWELD) to achieve accurate evaluation of the temperature field characteristics of this welding method, helping to understand the temperature field characteristics of this welding method, reducing the generation of welding defects during welding, and improving the welding quality of long-distance oil and gas pipelines. The specific steps are as follows:

[0069] Step S1, construct a welding finite element model of the long-distance oil and gas pipeline;

[0070] In this embodiment, a welding machine finite element model is constructed through finite element software. The finite element software is, for example, SYSWELD, and the mesh size of the welding finite element model is preferably less than 0.5 mm.

[0071] Step S2, initialize the input parameters of the automatic all-position weaving welding heat source model of the long-distance oil and gas pipeline at different welding positions; the input parameters include welding current, welding voltage, welding speed, weaving width, weaving time, and edge dwell time; the welding position is the position from 3 o'clock to 6 o'clock of the zigzag movement trajectory of the welding torch in the automatic all-position weaving welding process of the long-distance oil and gas pipeline;

[0072] In this embodiment, the above 6 input parameters need to be defined once at the positions from 3 to 4 o'clock, from 4 to 5 o'clock, and from 5 to 6 o'clock respectively. The present invention preferably defines the above input parameters using the FORTRAN language:

[0073] CLOCK4 = 150; define the time limit value when the heat source moves to 4 o'clock

[0074] CLOCK5 = 300; define the time limit value when the heat source moves to 5 o'clock

[0075] VY4 = 6.55; define the welding speed of the heat source from 3 to 4 o'clock

[0076] VY5 = 6.40; define the welding speed of the heat source from 4 to 5 o'clock

[0077] VY6 = 5.63; define the welding speed of the heat source from 5 to 6 o'clock

[0078] SL4=4.4; defines the swing width between 3 and 4 o'clock

[0079] SL5=4.4; defines the swing width between 4 and 5 o'clock

[0080] SL6=4.4; defines the swing width between 5 and 6 o’clock

[0081] BSH4=0.15; defines the swing time between 3 and 4 o'clock

[0082] BSH5=0.15; defines the swing time between 4 and 5 o'clock

[0083] BSH6=0.15; defines the swing time between 5 and 6 o'clock

[0084] TLS4=0.05; defines the edge dwell time between 3 and 4 o'clock

[0085] TLS5=0.05; defines the edge dwell time between 4 and 5 o'clock

[0086] TLS6=0.05; defines the edge dwell time between 5 and 6 o'clock

[0087] I4=6.55; defines the welding current at 3-4 o'clock when the heat source is

[0088] I5=6.40; defines the welding current when the heat source is at 4-5 o'clock

[0089] I6=5.63; defines the welding current when the heat source is at 5-6 o'clock

[0090] U4=6.55; defines the welding voltage of the heat source at 3-4 o'clock

[0091] U5=6.40; defines the welding voltage of the heat source at 4-5 o'clock

[0092] U6=5.63; defines the welding voltage when the heat source is at 5-6 o'clock

[0093] X0=0.0; define the initial X value of the heat source center

[0094] Y0=0.0; define the initial Y value of the heat source center

[0095] Z0=0.0; define the initial Z value of the heat source center

[0096] AF=5.0; define the parameters of the double ellipsoid heat source

[0097] AR=10.0; define the parameters of the double ellipsoid heat source

[0098] B = 3.0; Define the double-ellipsoid heat source parameters, specifically: the width of the double-ellipsoid heat source model (the distance from the measuring side to the center of the ellipsoid).

[0099] C = 4.0; Define the double-ellipsoid heat source parameters, specifically: the thickness of the double-ellipsoid heat source model (the distance from the bottom to the center of the ellipsoid).

[0100] Step S3, based on the input parameters and in combination with the welding finite element model, construct the local coordinate system of the double-ellipsoid heat source model; according to the three-dimensional coordinates of the welding heat source in the local coordinate system, construct the all-position swing welding automatic welding heat source model.

[0101] In this embodiment, establish the local coordinate system of the double-ellipsoid heat source, and through coordinate transformation, establish the coordinate transformation between the global coordinate system and the local coordinate system. This local coordinate system can move linearly along any set finite element welding line. The control equations of the double-ellipsoid heat source model are shown in formulas (1)-(2). The local coordinate system satisfies the right-hand rule, with the Y0 direction being the linear driving direction of the welding heat source, the X0 direction being the direction from the welding line to the reference line, and the reference line being a straight line parallel to the welding line. The Z0 direction is determined by the right-hand rule. The double-ellipsoid heat source model is as follows:

[0102] Among them, q f (x, y, z), q r (x, y, z) respectively represent the heat flux density distribution of the front half ellipsoid and the heat flux density distribution of the rear half ellipsoid. U represents the welding voltage, I represents the welding current, b h , c h respectively represent the double-ellipsoid heat source parameters, double-ellipsoid heat source parameters, a f , a r respectively represent the lengths of the front half ellipsoid and the rear half ellipsoid. η represents the welding heat efficiency value, x, y, z represent the central coordinates of the welding heat source (or called the moving heat source), b h represents the semi-melt width of the double-ellipsoid, mm, c h represents the depth of the double-ellipsoid model, mm; based on formulas (1) and (2), calculate the heat flux density of the model, respectively representing the heat distribution of the front half ellipsoid and the rear half ellipsoid, and are subsequently used to characterize the temperature field.

[0103] XD = XX - X0

[0104] YD = VY * TT

[0105] YD = YD + Y0

[0106] ZD = ZZ - Z0

[0107] XD, YD, and ZD represent the X, Y, and Z coordinates of the welding heat source in the local coordinate system (different from the geometric model coordinates, which is the heat source motion coordinate system). The above represents the method for obtaining the local coordinates during initialization.

[0108] Coordinate transformation between the local coordinate system and the global coordinate system:

[0109] SA = SIN(AY)

[0110] SA = -SA

[0111] CA = COS(AY)

[0112] A1 = XD * CA

[0113] A2 = ZD * SA

[0114] XL = A1 + A2

[0115] YL = YY - YD

[0116] A1 = ZD * CA

[0117] A2 = XD * SA

[0118] ZL = A1 - A2

[0119] The conversion is shown in formulas (3)-(5) as follows:

[0120] XL = XD * COS(AY) + ZD * (-SIN(AY)) (3)

[0121] YL = YY – YD (4)

[0122] ZL = ZD * CA - XD * SA (5)

[0123] Among them, XL, YL, and ZL respectively represent the X, Y, and Z coordinates of the welding heat source in the global coordinate system.

[0124] Based on the three-dimensional coordinates in the global coordinate system, a full-position swing welding automatic welding heat source model is constructed; the full-position swing welding automatic welding heat source model is used to calculate the energy value at the corresponding welding position; among them, the full-position swing welding automatic welding heat source model is:

[0125] F = QB1 * V1 * V2 * V3 (6)

[0126] QB1 = QTOTAL / P1 / B / C * 12.0 / (AR + AF) * 1.732 (7)

[0127] V1 = EXP((YL * YL) / (AC * AC) * M1 * M2) (8)

[0128]

[0129] V2 = EXP((XL * XL) / (B * B) * M1 * M2) (10)

[0130] V3 = EXP((ZL * ZL) / (C * C) * 3.0 * M1) (11)

[0131] Where F represents the energy value, QTOTAL represents the total heat input, B represents the double-ellipsoid heat source parameter, C represents the double-ellipsoid heat source parameter, VY represents the welding speed, XL, YL, and ZL respectively represent the X, Y, and Z coordinates of the welding heat source in the global coordinate system, AR, AF are a f 、a r , V1, V2, and V3 respectively represent a term inside the exp, without practical meaning, and M1 and M2 both represent set coefficients.

[0132] The all-position weaving automatic welding heat source model is compiled with FORTRAN commands as follows:

[0133] COND = VY * YL

[0134] IF (VY.EQ.0.) COND = YL

[0135] AC = AR

[0136] IF (COND.GT.0.) AC = AF

[0137] C QB1 computation

[0138] QB1 = QTOTAL

[0139] QB1 = QB1 / P1

[0140] QB1 = QB1 / B

[0141] QB1 = QB1 / C

[0142] QB1 = 12.0 * QB1

[0143] ART = AR + AF

[0144] QB1 = QB1 / ART

[0145] QB1 = 1.732 * QB1

[0146] C V1 computation (Calculation process)

[0147] A1 = YL * YL

[0148] A2 = AC * AC

[0149] A2 = A1 / A2

[0150] A2 = M1 * A2

[0151] A2 = M2 * A2

[0152] V1 = EXP(A2)

[0153] CV2 computation

[0154] A1 = XL * XL

[0155] A2 = B * B

[0156] A2 = A1 / A2

[0157] A2 = M1 * A2

[0158] A2 = M2 * A2

[0159] V2 = EXP(A2)

[0160] CV3 computation

[0161] A1 = ZL * ZL

[0162] A2 = C * C

[0163] A2 = A1 / A2

[0164] A2 = M1 * A2

[0165] A2 = 3.0 * A2

[0166] V3 = EXP(A2)

[0167] CF computation

[0168] F = QB1 * V1

[0169] F = F * V2

[0170] F = F * V3

[0171] Wherein,.GT. means greater than,.GE. means greater than or equal to,.LT. means less than,.LE. means less than or equal to,.EQ. means equal, and they are all relational operators in FORTRAN. F is the energy value obtained at a certain position and at a certain moment in the local coordinate system. The temperature at this position can be calculated through the energy value. Therefore, the overall temperature field can be obtained through the temperatures at each position.

[0172] Step S4, define the spatial position of the welding heat source during the full-position welding process according to the travel time of the heat source; calculate the total heat input based on the input parameters corresponding to the spatial position; the spatial position is the welding position.

[0173] In this embodiment, based on the heat source running time TT, the spatial position of the heat source during the full-position welding process is defined. When the time is less than the time CLOCK4 defined at 4 o'clock, the heat source adopts the welding process parameters defined at 3-4 o'clock. When the time is greater than the time CLOCK5 defined at 5 o'clock, the heat source adopts the welding process parameters defined at 5-6 o'clock. During the remaining time periods, the heat source default adopts the welding process parameters defined at 4-5 o'clock. The compiled FORTRAN commands are as follows:

[0174] IF(TT.LE.CLOCK4)

[0175] VY = VY4; Assign the welding speed defined at 3-4 o'clock to VY

[0176] I = I4; Assign the welding current defined at 3-4 o'clock to I

[0177] U = U4; Assign the welding voltage defined at 3-4 o'clock to U

[0178] SL = SL4; Assign the swing width defined at 3-4 o'clock to SL

[0179] BSH = BSH4; Assign the swing time defined at 3-4 o'clock to BSH

[0180] TLS = TLS4; Assign the edge dwell time defined at 3-4 o'clock to TLS. TLS itself is an interpretation and does not participate in the calculation;

[0181] IF(TT.GT.CLOCK5)

[0182] VY = VY5; Assign the welding speed defined at 5-6 o'clock to VY

[0183] I = I5; Assign the welding current defined at 5-6 o'clock to I

[0184] U = U5; Assign the welding voltage defined at 5-6 o'clock to U

[0185] SL = SL5; Assign the swing width defined at 5-6 o'clock to SL

[0186] BSH = BSH5; Assign the swing time defined at 5-6 o'clock to BSH

[0187] TLS = TLS5; Assign the edge dwell time defined at 5-6 o'clock to TLS

[0188] SSL = SL / 2.0; (Swing width) / 2

[0189] Then, calculate the total heat input:

[0190] QTOTAL=I*U

[0191] QTOTAL=EFF*QTOTAL

[0192] QTOTAL=QTOTAL / PI

[0193] That is, QTOTAL = I*U*EFF / PI (12)

[0194] Wherein, EFF represents thermal efficiency.

[0195] Step S5, according to the welding gun driving trajectory of the long-distance pipeline full-position swing welding automatic welding, the three-dimensional coordinates of the position of the welding heat source in the local coordinate system are obtained, and combined with the total heat input, the energy value of the welding heat source at the corresponding welding position is obtained through the full-position swing welding automatic welding heat source model; according to the energy value, the temperature of the corresponding welding position is obtained, and then the overall temperature field is obtained.

[0196] In this embodiment, the heat source swing trajectory is defined according to the welding gun travel trajectory of the long-distance pipeline full-position swing welding automatic welding. The welding gun travel speed is a combination of the straight-line travel speed and the left-right swing speed along the finite element welding heat source line. Its straight-line travel speed along the finite element welding line is defined as VX, and the left-right swing speed (i.e., welding speed) is defined as VY. The welding gun travel trajectory is split into four stages, including the left edge stay stage, the right swing stage, the right edge stay stage, and the left swing stage. In the left edge stay stage, the straight-line travel speed VX remains unchanged, and the swing speed value is set to zero. In the right swing stage, the straight-line travel speed VX and the swing speed are both panel setting values ​​(the panel is a display screen for welding settings) and remain unchanged. In the right edge stay stage, the straight-line travel speed VX remains unchanged, and the swing speed value is set to zero. In the left swing stage, the straight-line travel speed VX maintains the panel setting value, and VY is the opposite of the panel setting value. The four stages are one cycle. The trajectory and periodic parameters of the heat source of the pipeline full-position swing welding automatic welding are compiled by FORTRAN, and it is ensured that the local coordinate system of the heat source can run normally along the preset trajectory under the premise of coordinate changes. The FORTRAN command is as follows:

[0197] C VY Transformation

[0198] TT1=100000*TT

[0199] T1=MOD(TT1,KD1)

[0200] T1=T1 / 100000

[0201] T2=TT / ZHQ

[0202] T4 = T2 * 100000

[0203] T4 = MOD(T4, 100000)

[0204] T4 = T4 / 100000

[0205] T2 = T2 - T4

[0206] T3 = T1 + T2

[0207] IF(T1.LE.BSH) YD = VY * T3 less than the swing time from 4 to 5 o'clock

[0208] YD = YD + Y0

[0209] IF(T1.GT.BSH) YD = YD + 0.0

[0210] C VX Transformation

[0211] XA = VX * T1

[0212] XA = XA + X0

[0213] IF(T1.LE.BSH) XP = XA - SSL

[0214] IF(T1.GT.BSH) XP = SSL

[0215] TT2 = MOD(TT1, KD2)

[0216] TT3 = TT2 / 100000

[0217] IF(TT3.LE.ZHQ) XF = XP

[0218] IF(TT3.GT.ZHQ) XF = XP * M1

[0219] XD = XX - XF

[0220] ZD = ZZ - Z0

[0221] Converted into a formula as:

[0222] XD = XX - XF (13)

[0223] ZD = ZZ - Z0 (14)

[0224]

[0225] T3 = MOD(TT1, KD1) / 100000 + [TT / ZHQ - MOD((TT / ZHQ * 100000), 100000) / 100000](16)

[0226]

[0227]

[0228] TT3 = MOD(100000 * TT, KD2) / 100000 (19)

[0229] T3 = MOD(TT1, KD1) / 100000 + [TT / ZHQ - MOD((TT / ZHQ * 100000), 100000) / 100000](20)

[0230] Among them, BSH represents the swing time, SSL = SL / 2.0, SL represents the swing width, KD1 and KD2 both represent set coefficients, XX and ZZ represent the current X and Z coordinates of the welding heat source, and ZHQ represents half of the welding cycle time.

[0231] The system for establishing the heat source model of all-position oscillating automatic welding of long-distance oil and gas pipelines in the second embodiment of the present invention is used to construct the heat source model of all-position oscillating automatic welding, and then obtain the energy value at the corresponding welding position to obtain the overall temperature field. The system includes:

[0232] The finite element model construction module is configured to construct the welding finite element model of the long-distance oil and gas pipeline;

[0233] The initialization module is configured to initialize the input parameters of the all-position oscillating automatic welding heat source model of the long-distance oil and gas pipeline at different welding positions; the input parameters include welding current, welding voltage, welding speed, swing width, swing time, and edge residence time; the welding position is the position from 3 o'clock to 6 o'clock of the zigzag movement trajectory of the welding torch in the all-position oscillating automatic welding process of the long-distance oil and gas pipeline;

[0234] The heat source model construction module is configured to construct the local coordinate system of the double-ellipsoid heat source model based on the input parameters and in combination with the welding finite element model; construct the all-position oscillating automatic welding heat source model according to the three-dimensional coordinates of the welding heat source in the local coordinate system;

[0235] The total heat input calculation module is configured to define the spatial position of the welding heat source during the all-position welding process according to the heat source travel time; calculate the total heat input based on the input parameters corresponding to the spatial position; the spatial position is the welding position;

[0236] An energy value calculation module is configured to obtain the three-dimensional coordinates of the position of the welding heat source in the local coordinate system according to the traveling trajectory of the welding torch in the all-position weaving automatic welding of the long-distance pipeline, and combine the total heat input to obtain the energy value of the welding heat source at the corresponding welding position through the all-position weaving automatic welding heat source model; according to the energy value, obtain the temperature magnitude of the corresponding welding position, and further obtain the overall temperature field.

[0237] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process and related explanations of the above-described system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0238] It should be noted that the system for establishing the all-position weaving automatic welding heat source model of the long-distance oil and gas pipeline provided in the above embodiment is only illustrated by the division of the above function modules. In actual applications, the above functions can be allocated to different function modules according to needs, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further split into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing each module or step, and are not regarded as an improper limitation of the present invention.

[0239] An electronic device according to a third embodiment of the present invention includes at least one processor; and a memory communicatively connected to at least one of the processors; wherein, the memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the above method for establishing an all-position weaving automatic welding heat source model of a long-distance oil and gas pipeline.

[0240] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above method for establishing an all-position weaving automatic welding heat source model of a long-distance oil and gas pipeline.

[0241] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process and related explanations of the above-described device for establishing an all-position weaving automatic welding heat source model of a long-distance oil and gas pipeline and the computer-readable storage medium can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0242] Those skilled in the art should be able to realize that the modules and method steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. The programs corresponding to the software modules and method steps can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field. For the sake of clearly illustrating the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in the form of electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0243] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, so that a process, method, article, or device / apparatus comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in these processes, methods, articles, or devices / apparatuses.

[0244] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the drawings. However, those skilled in the art can easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

Claims

1. A method for establishing a full-position oscillating automatic welding heat source model for long-distance oil and gas pipelines, which is used to construct a full-position oscillating automatic welding heat source model, thereby obtaining the energy values at corresponding welding positions and obtaining the overall temperature field, characterized in that, The method includes the following steps: Step S1, constructing a finite element model for the welding of long-distance oil and gas pipelines; Step S2, initializing the input parameters of the all-position weaving automatic welding heat source model for long-distance oil and gas pipelines at different welding positions; the input parameters include welding current, welding voltage, welding speed, weaving width, weaving time, and edge dwell time; the welding position is the position from 3 o'clock to 6 o'clock of the zigzag movement trajectory of the welding torch in the all-position weaving automatic welding process of long-distance oil and gas pipelines; Step S3, based on the input parameters, combining with the welding finite element model, constructing a local coordinate system of the double ellipsoid heat source model; according to the three-dimensional coordinates of the welding heat source in the local coordinate system, constructing an all-position weaving automatic welding heat source model; Step S4, defining the spatial position of the welding heat source during the all-position welding process according to the heat source travel time; calculating the total heat input based on the input parameters corresponding to the spatial position; the spatial position is the welding position; Step S5, obtaining the three-dimensional coordinates of the position where the welding heat source is located in the local coordinate system according to the travel trajectory of the welding torch in the all-position weaving automatic welding of long-distance pipelines, and combining with the total heat input, obtaining the energy value of the welding heat source at the corresponding welding position through the all-position weaving automatic welding heat source model; according to the energy value, obtaining the temperature magnitude at the corresponding welding position, and further obtaining the overall temperature field.

2. The method for establishing an all-position swing welding automatic welding heat source model for long-distance oil and gas pipelines according to claim 1, wherein, The mesh size of the welding finite element model is less than 0.5 mm.

3. The method for establishing an all-position swing welding automatic welding heat source model for a long-distance oil and gas pipeline according to claim 1, characterized in that The double ellipsoid heat source model is: Among them, q f (x, y, z), q r (x, y, z) respectively represent the heat flux density distribution of the front half ellipsoid and the heat flux density distribution of the rear half ellipsoid, U represents the welding voltage, I represents the welding current, b h , c h respectively represent the double ellipsoid heat source parameters, the double ellipsoid heat source parameters, a f , a r respectively represent the lengths of the front half ellipsoid and the rear half ellipsoid, η represents the welding heat efficiency value, x, y, z represent the welding heat source center coordinates, b h , c h respectively represent the half melting width of the double ellipsoid and the depth of the double ellipsoid model.

4. The method for establishing an all-position swing welding automatic welding heat source model for long-distance oil and gas pipelines according to claim 3, characterized in that, The local coordinate system of the double ellipsoid heat source model satisfies the right-hand rule; the Y0 direction of the local coordinate system of the double ellipsoid heat source model is the linear travel direction of the welding heat source, the X0 direction is the direction from the welding line to the reference line, the reference line is a straight line parallel to the welding line, and the Z0 direction is determined by the right-hand rule; the local coordinate system of the double ellipsoid heat source model moves linearly along any set finite element welding line; the X0 direction, Y0 direction, and Z0 direction are the initial X, Y, and Z directions of the welding heat source center respectively.

5. The method for establishing an all-position swing welding automatic welding heat source model for a long-distance oil and gas pipeline according to claim 4, characterized in that, According to the three-dimensional coordinates of the welding heat source in the local coordinate system, constructing an all-position weaving automatic welding heat source model, the method is: Converting the three-dimensional coordinates in the local coordinate system to the three-dimensional coordinates in the global coordinate system; Based on the three-dimensional coordinates in the global coordinate system, constructing an all-position weaving automatic welding heat source model; the all-position weaving automatic welding heat source model is used to calculate the energy value at the corresponding welding position; Among them, the all-position weaving automatic welding heat source model is: F = QB1 * V1 * V2 * V3 QB1 = QTOTAL / P1 / B / C * 12.0 / (AR + AF) * 1.732 V1 = EXP((YL * YL) / (AC * AC) * M1 * M2) V2 = EXP((XL * XL) / B * B * M1 * M2) V3 = EXP((ZL * ZL) / (C * C) * 3.0 * M1) Among them, F represents the energy value, QTOTAL represents the total heat input, B represents the width of the double-ellipsoid heat source model, C represents the thickness of the double-ellipsoid heat source model, VY represents the welding speed, XL, YL, and ZL respectively represent the X, Y, and Z coordinates of the welding heat source in the global coordinate system, AR and AF are a f and a r , and M1 and M2 both represent set coefficients.

6. The method for establishing an all-position swing welding automatic welding heat source model for long-distance oil and gas pipelines according to claim 5, characterized in that Converting the three-dimensional coordinates in the local coordinate system to the three-dimensional coordinates in the global coordinate system, the method is: XL = XD * COS(AY) + ZD * (-SIN(AY)) YL = YY – YD ZL = ZD * CA - XD * SA Wherein, XD, YD, and ZD represent the X, Y, and Z coordinates of the welding heat source in the local coordinate system, YY represents the current Y coordinate of the welding heat source, CA and SA respectively represent the cosine value of the rotation angle and the negative sine value of the rotation angle, and AY represents the rotation angle.

7. The method for establishing an all-position swing welding automatic welding heat source model for long-distance oil and gas pipelines according to claim 6, characterized in that For the total heat input, its calculation method is as follows: QTOTAL = I * U * EFF / PI Wherein, EFF represents the heat efficiency.

8. The method for establishing an all-position swing welding automatic welding heat source model for long-distance oil and gas pipelines according to claim 7, characterized in that, One cycle of the welding torch travel trajectory includes four stages, namely the left edge stay stage, the right swing stage, the right edge stay stage, and the left swing stage; Among them, in the left edge stay stage, the linear travel speed VX remains unchanged, and the swing speed value is set to zero; in the right swing stage, both the linear travel speed VX and the swing speed are the panel set values and remain unchanged; in the right edge stay stage, the linear travel speed VX remains unchanged, and the swing speed value is set to zero; in the left swing stage, the linear travel speed VX remains the panel set value, and the welding speed VY is the opposite of the panel set value; the panel is the display screen set for welding.

9. The method for establishing an all-position swing welding automatic welding heat source model for long-distance oil and gas pipelines according to claim 8, characterized in that According to the welding torch travel trajectory of the all-position oscillating welding of long-distance pipelines, the method for obtaining the three-dimensional coordinates of the position of the welding heat source in the local coordinate system is as follows: XD = XX - XF ZD = ZZ - Z0 TT3 = MOD(100000 * TT, KD2) / 100000 T3 = MOD(TT1, KD1) / 100000 + [TT / ZHQ - MOD((TT / ZHQ * 100000), 100000) / 100000] Wherein, BSH represents the swing time, TT represents the heat source travel time, SSL = SL / 2.0, SL represents the swing width, KD1 and KD2 both represent set coefficients, XX and ZZ represent the current X and Z coordinates of the welding heat source, and ZHQ represents half of the welding cycle time.

10. A system for establishing a full-position oscillating automatic welding heat source model of a long-distance oil and gas pipeline, which is used to construct a full-position oscillating automatic welding heat source model, and then obtain the energy value of the corresponding welding position to obtain the overall temperature field, characterized in that, The system includes: A finite element model construction module configured to construct a welding finite element model of a long-distance oil and gas pipeline; An initialization module configured to initialize the input parameters of the all-position oscillating welding heat source model of the long-distance oil and gas pipeline at different welding positions; the input parameters include welding current, welding voltage, welding speed, swing width, swing time, and edge stay time; the welding position is the position from 3 o'clock to 6 o'clock of the sawtooth motion trajectory of the welding torch in the all-position oscillating welding process of the long-distance oil and gas pipeline; A heat source model construction module configured to, based on the input parameters, combine the welding finite element model to construct a local coordinate system of a double-ellipsoid heat source model; according to the three-dimensional coordinates of the welding heat source in the local coordinate system, construct an all-position oscillating welding heat source model; A total heat input calculation module configured to, according to the heat source travel time, define the spatial position of the welding heat source during the all-position welding process; based on the input parameters corresponding to the spatial position, calculate the total heat input; the spatial position is the welding position; An energy value calculation module, configured to obtain the three-dimensional coordinates of the position of the welding heat source in the local coordinate system according to the travel trajectory of the welding torch of the all-position weaving automatic welding of the long-distance pipeline, and combine the total heat input, and obtain the energy value of the welding heat source at the corresponding welding position through the all-position weaving automatic welding heat source model; obtain the temperature magnitude of the corresponding welding position according to the energy value, and further obtain the overall temperature field.

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