Welding methods, apparatus, electronic equipment and storage media

Abstract

This invention provides a welding method, apparatus, electronic device, and storage medium, belonging to the field of intelligent manufacturing technology. The method includes: acquiring the actual average welding current value; determining a target wire feed speed corresponding to the actual average current value based on a target compensation relationship; and adjusting the actual wire feed speed to the target wire feed speed. The target compensation relationship is determined from a set of compensation relationships based on the target average current value, and includes the correspondence between the actual average current value and the target wire feed speed. Through a pre-established compensation relationship, this invention can actively adjust the wire feed speed in real time to compensate for deviations in the monitored actual average current value during the welding process, thereby ensuring a constant heat input throughout the welding process. This solves the technical problems of welding current fluctuations and inconsistent weld formation caused by changes in workpiece elongation due to factors such as non-roundness of the workpiece, significantly improving the quality and reliability of the weld.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and in particular to a welding method, apparatus, electronic device, and storage medium. Background Technology

[0002] In the manufacturing process of household appliances, such as electric water heaters and water storage tanks, it is generally necessary to perform circumferential welding on thin-walled cylindrical metal parts to form sealed containers.

[0003] To meet the efficiency and consistency requirements of large-scale production, the industry typically employs automated welding equipment, such as welding robots or specialized welding machine tools. In these automated processes, operators pre-set a set of fixed welding process parameters, including welding voltage, wire feed speed, and welding speed, based on the material, thickness, and other characteristics of the workpiece. The automated equipment then precisely executes standardized welding operations on each workpiece according to these preset parameters. However, in actual production, the aforementioned automated welding method using fixed parameters faces significant challenges when applied to the welding of thin-plate cylinders.

[0004] Because cumulative tolerances are unavoidable in pre-processing steps such as stamping and edge rolling, the cylindrical workpiece to be welded is not perfectly round, but rather exhibits a certain degree of non-roundness or ellipticity. Furthermore, slight eccentricity may exist in the clamping of the workpiece on the automated fixture. When automated equipment welds a rotating workpiece in a fixed posture, these geometric deviations cause continuous, periodic changes in the distance between the welding torch tip and the workpiece surface, i.e., the weld extension. These changes in weld extension directly cause fluctuations in the total resistance of the welding circuit. Under fixed parameter settings, this ultimately leads to uncontrolled, real-time fluctuations in the actual welding current. Excessive current can easily cause thin plates to burn through instantly, resulting in scrap; insufficient current leads to defects such as insufficient penetration and lack of fusion, severely affecting the mechanical strength and fatigue life of the weld, leaving potential leakage hazards, and resulting in poor consistency and low reliability of the final product. Summary of the Invention

[0005] This invention provides a welding method, apparatus, electronic device, and storage medium. It addresses the problem that the non-circular shape of the cylinder causes changes in the distance between the welding torch and the cylinder, resulting in fluctuations in the welding current, which affects weld formation and may even cause burn-through. By controlling the wire feed speed, it achieves constant heat input control and realizes consistent weld formation.

[0006] This invention provides a welding method, comprising:

[0007] Obtain the actual average current value for real-time welding of the target object;

[0008] Based on the target compensation relationship, determine the target wire feeding speed corresponding to the actual average current value;

[0009] Adjust the actual wire feeding speed of the real-time welding to the target wire feeding speed;

[0010] The target compensation relationship is uniquely determined from a predetermined set of compensation relationships based on the target average current value for welding the target object. The target compensation relationship includes the correspondence between different actual average current values ​​and different target wire feed speeds.

[0011] According to a welding method provided by the present invention, the method for constructing the compensation relationship set includes:

[0012] For each of the multiple different target average current values, a corresponding target compensation relationship is established;

[0013] The process of establishing the target compensation relationship corresponding to each target average current value includes obtaining multiple different actual average current values ​​generated by changing the standard dry extension, and determining the target wire feeding speed that corresponds to each of the multiple different actual average current values ​​and can restore the actual average current value to the target average current value.

[0014] According to a welding method provided by the present invention, the target compensation relationship for any target average current value is specifically constructed based on the following manner:

[0015] Determine a reference wire feed speed, which is the wire feed speed when the welding current is stable at any target average current value under standard dry extension;

[0016] The standard dry elongation is disturbed;

[0017] Record the deviation current value after the disturbance;

[0018] The real-time wire feed speed at which the welding current recovers from the deviation current value to any target average current value by adjusting the reference wire feed speed;

[0019] The deviation current value and the real-time wire feeding speed are used as a set of compensation relationship pairs in the target compensation relationship;

[0020] The process of iteratively perturbing the standard dry extension length until the deviation current value and the real-time wire feeding speed are used as a set of compensation relationship pairs in the target compensation relationship is executed until a preset cutoff condition is reached, and multiple sets of the compensation relationship pairs are obtained.

[0021] Based on the aforementioned compensation relationship pairs, the target compensation relationship is constructed.

[0022] According to a welding method provided by the present invention, determining a target wire feed speed corresponding to the actual average current value based on a target compensation relationship includes:

[0023] The target compensation relationship is input into the fitting curve function representing the target compensation relationship to obtain the target wire feeding speed output by the fitting curve function.

[0024] According to a welding method provided by the present invention, the actual average current value is obtained by statistical analysis of the real-time welding current;

[0025] The welding method further includes:

[0026] When reducing the pulse peak current of the real-time welding current, at least one other waveform parameter is adjusted to reduce the pulse effective current value of the real-time welding current, and the energy within one pulse cycle is sufficient to achieve a stable transition of the molten droplet at the end of the welding wire.

[0027] According to a welding method provided by the present invention, the other waveform parameters include the pulse width within one pulse period.

[0028] According to a welding method provided by the present invention, adjusting the actual wire feed speed of the real-time welding to the target wire feed speed includes:

[0029] Obtain the actual average voltage value of the real-time welding;

[0030] The target wire feeding speed determined by the target compensation relationship is adjusted based on the deviation between the actual average voltage value and a preset target average voltage value.

[0031] The actual wire feeding speed is adjusted to the target wire feeding speed after compensation adjustment.

[0032] According to a welding method provided by the present invention, the target object is any thin plate cylindrical workpiece, and the welding method is a butt welding method.

[0033] According to a welding method provided by the present invention, the thin plate cylindrical workpiece is a workpiece with non-roundness or clamping eccentricity.

[0034] The present invention also provides a welding apparatus, comprising:

[0035] The current acquisition unit is used to obtain the actual average current value for real-time welding of the target object.

[0036] The speed mapping unit is used to determine the target wire feeding speed corresponding to the actual average current value based on the target compensation relationship.

[0037] The wire feeding control unit is used to adjust the actual wire feeding speed of the real-time welding to the target wire feeding speed;

[0038] The target compensation relationship is uniquely determined from a predetermined set of compensation relationships based on the target average current value for welding the target object. The target compensation relationship includes the correspondence between different actual average current values ​​and different target wire feed speeds.

[0039] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the welding method as described above.

[0040] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the welding method as described above.

[0041] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the welding method as described above.

[0042] The welding method, apparatus, electronic equipment, and storage medium provided by this invention, through a pre-established compensation relationship, can actively adjust the wire feeding speed to compensate for the deviation of the actual average current value monitored during the welding process, thereby ensuring a constant heat input throughout the welding process. This solves the technical problems of welding current fluctuations and inconsistent weld formation caused by changes in dry extension due to factors such as non-roundness of the workpiece, and significantly improves the quality and reliability of the weld. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the cross-section of a butt weld on a cylindrical workpiece in the prior art.

[0045] Figure 2 This is a schematic diagram illustrating the instability of welding current and molten pool morphology caused by the non-circularity of the workpiece in existing technologies.

[0046] Figure 3 This is a schematic flowchart of a welding method provided in an embodiment of the present invention.

[0047] Figure 4This is a schematic diagram illustrating a case where the workpiece is not round but the welding process remains stable in an embodiment of the present invention.

[0048] Figure 5 This is a waveform diagram of current and voltage during the welding process using existing technology.

[0049] Figure 6 This is a waveform diagram of the current and voltage during the welding process in an embodiment of the present invention.

[0050] Figure 7 This is a schematic diagram of the process for constructing the target compensation relationship in an embodiment of the present invention.

[0051] Figure 8 This is a schematic diagram illustrating the compensation relationship between the actual average current value and the target wire feeding speed in an embodiment of the present invention.

[0052] Figure 9 This is a schematic diagram of pulse current waveform adjustment in an embodiment of the present invention.

[0053] Figure 10 This is a schematic diagram illustrating the principle of pulse effective current value calculation in an embodiment of the present invention.

[0054] Figure 11 This is a block diagram illustrating the principle of dual-loop collaborative control in an embodiment of the present invention.

[0055] Figure 12 This is a schematic diagram of the welding device provided by the present invention.

[0056] Figure 13 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0058] It should be noted that in the description of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] The terms "first," "second," etc., used in this invention are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more.

[0060] Figure 1 This is a schematic cross-sectional view of a butt weld on a cylindrical workpiece in existing technology. In manufacturing, including the home appliance manufacturing industry, such as the manufacturing of the inner tank of an electric water heater, automated welding methods are typically used to butt weld thin-plate cylindrical bodies. Figure 1 As shown in Figure A, the welding torch is perpendicular to the workpiece surface, and the welding wire is incident perpendicularly to the workpiece surface. In this case, the weld pool is relatively concentrated, enabling a more stable welding process. This is suitable for workpieces with smooth surfaces and few defects such as porosity. Figure B shows the welding torch tilted at a certain angle relative to the workpiece surface. This tilt angle helps improve the fluidity of the weld pool, promoting wetting and filling of the weld metal. This is suitable for welding workpieces with slight irregularities or requiring adjustments to the weld penetration. Figure C shows a larger tilt angle, with the welding wire incident much off-center from the vertical direction. This may result in a stronger lateral impact on the weld pool, leading to an unstable weld pool shape during welding and making it prone to defects such as porosity and lack of fusion, which is detrimental to obtaining a high-quality weld.

[0061] To avoid burn-through due to excessive heat concentration when welding thin plates, current processes generally employ a non-perpendicular welding posture. Specifically, the operator intentionally increases the welding torch's advance angle, tilting the torch during welding. This tilted welding method ensures that the arc's impact force primarily affects the spread of the molten pool rather than its downward digging, resulting in a wider weld width and avoiding the risk of burn-through. However, the trade-off is that the heat is not concentrated, leading to a very limited weld penetration depth, which fails to form a good metallurgical bond with the base material. Such welds, especially under cyclic pressure changes, have a short fatigue life and are prone to cracking at the weld joint, causing serious quality problems such as leaks.

[0062] In automated welding processes, besides the inherent limitations of the technology itself, the cylindrical workpieces to be welded often exhibit non-roundness or clamping eccentricity. As the workpiece rotates, the distance between the fixed welding torch and the workpiece surface—the weld extension—dynamically changes. When the weld extension increases from its standard state, the welding circuit resistance increases, leading to a decrease in the actual welding current and a smaller molten pool. Conversely, when the weld extension decreases, the circuit resistance decreases, leading to an increase in current and a larger molten pool. This real-time fluctuation in current and heat input caused by workpiece geometric deviations is the root cause of inconsistent final weld quality and defects such as burn-through or incomplete penetration.

[0063] Figure 2 This diagram illustrates the instability of welding current and molten pool morphology caused by workpiece non-circularity in existing technologies. Specifically, it shows the dynamic changes in the distance (extension) between the welding torch and the workpiece surface due to the non-circularity of the workpiece cross-section. Because of protrusions and depressions on the workpiece wall, the actual distance between the welding torch and the workpiece surface changes continuously during workpiece rotation. Specifically, position A corresponds to a standard extension length, stable welding current, and a normal and uniform molten pool morphology; position B indicates an increased extension length, resulting in a decrease in welding current, a smaller molten pool area, reduced heat input, and a higher risk of insufficient or non-fusion defects in the weld; position C shows a decreased extension length, increased welding current, an expanded molten pool area, and increased heat input, potentially leading to burn-through defects; position D shows an abnormally aggravated extension length, significantly unstable molten pool morphology, and an uncontrolled welding process. This dynamically changing extension length directly causes fluctuations in welding current and molten pool state, becoming a major cause of unstable welding quality due to workpiece non-circularity or clamping eccentricity. It is evident that in existing technologies, the welding process parameters are fixed, and the wire feeding speed cannot be dynamically adjusted according to changes in wire extension. This leads to a mismatch between the wire feeding speed and the welding current, thereby exacerbating the instability of the welding process and making it difficult to obtain high-quality welds.

[0064] In order to solve the technical problems of unstable welding process and poor weld quality caused by factors such as non-circular workpieces in the prior art, the present invention provides a new welding method.

[0065] The following is combined with Figures 1-13 The present invention describes the welding method, apparatus, electronic equipment and storage medium provided by the present invention, with the aim of establishing a closed-loop feedback control system to counteract current fluctuations caused by changes in dry stretching in real time, so as to achieve constant heat input.

[0066] Figure 3 This is a schematic flowchart of a welding method provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the method may specifically include the following steps:

[0067] Step 11: Obtain the actual average current value for real-time welding of the target object.

[0068] In this embodiment, the target object can be any workpiece that needs to be welded, especially suitable for metal workpieces sensitive to welding heat input, such as thin-plate containers in the aforementioned home appliance field. The welding method can be automated welding, such as a welding process performed by a welding robot or a dedicated welding machine tool.

[0069] The step of obtaining the actual average current value for real-time welding of the target object can be achieved by setting a current sensor (such as a Hall current sensor) in the welding circuit. The current sensor can continuously acquire instantaneous real-time welding current signals and send the acquired welding current signals to a control unit. The processor in the control unit will perform calculations on the received real-time welding current signals.

[0070] The actual average current value is a macroscopic statistical quantity obtained by performing statistical operations (e.g., arithmetic average or integral average) on the real-time welding current within a preset, extremely short time window (e.g., several milliseconds or several pulse cycles). The obtained actual average current value can accurately characterize the average energy level or heat input intensity of the welding process within the time window.

[0071] Step 12: Determine the target wire feeding speed corresponding to the actual average current value based on the target compensation relationship.

[0072] Before welding, the operator or the upper control system will preset a target average current value. The target average current value can be the ideal average welding current value determined according to the material, thickness, and process requirements such as the desired weld penetration depth of the target object. It is the control target that this method needs to maintain throughout the welding process.

[0073] The target compensation relationship is uniquely determined from a pre-defined set of compensation relationships. This set is a data structure storing multiple sets of compensation relationships, each corresponding to a specific target average current value. At the start of the welding task, the control unit retrieves the uniquely corresponding compensation relationship from the set of compensation relationships based on the currently set target average current value, using it as the target compensation relationship for this welding task.

[0074] The target compensation relationship itself contains a correspondence between different actual average current values ​​and different target wire feed speed values. This correspondence can be understood as a rule base for perturbation and response relationships, that is, it predefines the wire feed speed to which it should be adjusted to restore the current to the target when the actual average current value deviates from the target due to a perturbation (such as changes in wire elongation). The correspondence can be stored and implemented in various forms, such as a look-up table, a fitted function curve, or a mathematical model.

[0075] The process of determining the target wire feeding speed can be specifically as follows: the control unit takes the actual average current value obtained in step 11 as input, queries or calculates in the currently selected target compensation relationship, and outputs a target wire feeding speed that precisely corresponds to the actual average current value.

[0076] Step 13: Adjust the actual wire feeding speed of the real-time welding to the target wire feeding speed.

[0077] Specifically, this is accomplished by the control unit issuing control commands to the drive motor (e.g., a servo motor or a stepper motor) of the wire feeding system. These control commands change the rotational speed of the drive motor, thereby precisely adjusting the speed at which the welding wire is fed from the welding torch to match the target wire feeding speed.

[0078] To better understand the technical effects of this embodiment, the following will explain... Figures 4-6 The following is a detailed explanation.

[0079] Figure 4 This is a schematic diagram illustrating a case where the workpiece is not round but the welding process remains stable, as described in an embodiment of the present invention. Figure 4 The content shown is the same as Figure 2 In stark contrast to the uncontrolled state of existing technologies, even if the cylinder is not round, causing the wire extension to vary between standard, longer, and shorter, the welding method described in this embodiment can compensate for current fluctuations caused by changes in wire extension by adjusting the wire feed speed in real time, thereby maintaining a stable welding current and weld pool morphology. Figure 2Compared to the uncontrolled state of existing technologies, this invention effectively ensures the stability of the welding process and improves welding quality. Specifically, when the wire extension increases, the welding current often decreases. To maintain the stability of the welding process and the constant heat input, this invention detects changes in the actual average current value in real time and, based on a preset target compensation relationship between the actual average current value and the target wire feed speed, increases the wire feed speed to increase the amount of metal fed into the weld per unit time, thereby compensating for the decrease in the actual average current value, and vice versa. Through this dynamic adjustment, current fluctuations caused by changes in wire extension can be effectively suppressed, ensuring the stability of the welding process and the welding quality.

[0080] like Figure 4 As shown, the welding process can be stabilized by adjusting the wire feed speed. Figure 2 The non-circular cross-section of the workpiece causes dynamic changes in the distance (elongation) between the welding torch and the workpiece surface, resulting in variations in current and molten pool morphology. Figure 4 By dynamically adjusting the corresponding wire feed speed compensation, the weld pool maintains a stable and consistent shape even when there are protrusions or depressions on the workpiece surface (positions A, B, C, and D). This comparison highlights that the present invention effectively overcomes the welding instability caused by workpiece geometric deviations by adjusting control parameters in real time, thereby significantly improving welding quality and consistency.

[0081] Figure 5 This is a current and voltage waveform diagram of the welding process using existing technology. Figure 6 This is a current and voltage waveform diagram during the welding process according to an embodiment of the present invention. Figure 5 and Figure 6 The comparison quantitatively demonstrates the technical advantages of the welding method provided by the present invention.

[0082] In existing welding techniques, the physical principle behind the potential for uncontrolled welding processes without effective compensation mechanisms lies in the fact that the total resistance of the welding circuit equals the sum of the arc resistance and the resistance of the welding wire extension. When the wire extension changes, its resistance changes accordingly, leading to a change in the total resistance. With a relatively fixed welding machine output voltage, according to Ohm's law, the current will change in the opposite direction to the total resistance. For example... Figure 5 As shown, the current fluctuated drastically in sections A, B, and C. Specifically, in section A, the average current was 255.4 A; in section B, the average current plummeted to 235.5 A; and in section C (corresponding to the shortening of the dry body extension), the average current surged to 267.2 A. This fluctuation directly affected the effective value of the current I, a key indicator of heat input. RMS The current fluctuates drastically between 271.2A and 305.4A, which directly leads to unstable heat input, uncontrolled molten pool morphology, and makes welding defects very easy to occur.

[0083] Combination Figure 4 and Figure 6 As shown, this invention effectively overcomes the aforementioned problems in the prior art: when the control unit detects that the actual average current value deviates from the target average current value, it immediately compensates by adjusting the wire feed speed. For example, when the wire extension length increases, causing a decrease in current, the control unit increases the wire feed speed, forcing the welding machine to output a larger current to melt more welding wire, thereby pulling the actual average current value back to the target average current value. Conversely, when the wire extension length decreases, causing an increase in current, the control unit decreases the wire feed speed, and the welding machine automatically reduces the current output. Figure 4 Qualitatively, regardless of changes in dry extension, the current and molten pool morphology remain constant. For example... Figure 6 As shown quantitatively, after adopting the method of the present invention, the current waveform is extremely stable throughout the welding process, and the average current is stably maintained at around 121.4A, almost in a straight line, with an effective current value I. RMS It also remained constant at around 188.1A. This contrast between drastic fluctuations and high stability strongly demonstrates that the present invention can effectively suppress current fluctuations caused by changes in dry-elongation.

[0084] The welding method provided by this invention, when detecting a deviation in the actual average current value, a characteristic of heat input, can actively and in real time adjust the wire feed speed according to a preset compensation relationship. This effectively counteracts current fluctuations caused by changes in wire elongation due to geometric deviations of the target object (such as out-of-roundness), ensuring constant heat input throughout the welding process. Figure 5 and Figure 6 The comparison shows that this improvement fundamentally solves the problems of inconsistent weld formation, easy burn-through, or incomplete penetration in the existing technology, and significantly improves welding quality, process stability, and the reliability of the final product.

[0085] Based on the above embodiments, as an optional embodiment, the method for constructing the compensation relationship set is further explained. In order for the control unit to accurately execute compensation adjustments, a reliable set of compensation rules, i.e., a compensation relationship set, must be provided to it in advance.

[0086] Specifically, the method for constructing the compensation relationship set provided by the present invention can be an offline calibration process, that is, completed before actual mass production welding.

[0087] The method for constructing the compensation relationship set first requires establishing a corresponding target compensation relationship for each of the multiple different target average current values. This is necessary because different welding processes correspond to different target average current values, and their arc characteristics and responses to wire feed speeds are different. Therefore, it is necessary to establish a set of exclusive and precise compensation rules for each process level, thereby forming a compensation relationship set applicable to multiple welding scenarios.

[0088] For any selected target average current value, the core process of establishing its corresponding target compensation relationship lies in systematically establishing the intrinsic connection between disturbance and compensation through experiments or simulations. Specifically, this process includes obtaining multiple different actual average current values ​​resulting from changes in the standard weld extension. In other words, it involves simulating various weld extension variations that may occur in actual welding due to workpiece non-roundness or clamping eccentricity, and recording the specific values ​​by which the actual average current value deviates from the target average current value under these different weld extension conditions.

[0089] Subsequently, a target wire feed speed was determined for each of the multiple different actual average current values, which would restore the actual average current value to the target average current value. For each recorded deviation of the actual average current value, an accurate wire feed speed value was found that could exactly offset the disturbance and bring the welding current back to the initially set target average current value by adjusting the wire feed speed.

[0090] Through the above process, a one-to-one correspondence is established: when the actual average current value is A, the corresponding compensating target wire feeding speed is X; when the actual average current value is B, the corresponding compensating target wire feeding speed is Y, and so on. These correspondences together constitute a complete target compensation relationship for a specific target average current value.

[0091] By adopting the above-mentioned method for constructing the set of compensation relationships, the welding method provided by this invention, when faced with complex disturbances in actual production, no longer blindly makes trial-and-error adjustments, but can make rapid and accurate responses based on this set of pre-calibrated compensation relationships with physical basis, thereby greatly improving the stability of the control system and the accuracy of the compensation effect.

[0092] Figure 7 This is a schematic diagram illustrating the specific process of constructing the target compensation relationship in an embodiment of the present invention, such as... Figure 7 As shown, for a selected target average current value, the corresponding target compensation relationship is constructed, which may include the following steps:

[0093] First, determine the baseline wire feed speed to establish a reference point or balance point for subsequent compensation adjustments.

[0094] The reference wire feed speed refers to the wire feed speed at which the welding current stabilizes at a certain set target average current value under standard wire extension. Standard wire extension refers to an ideal, undisturbed welding distance.

[0095] Next, the standard dry elongation is perturbed to simulate the changes in dry elongation caused by factors such as non-roundness of the workpiece in actual production.

[0096] Disturbance can be achieved by controlling the distance or position between the welding torch and the workpiece through a program, causing a precise change (longer or shorter) in the distance between the torch and the workpiece surface.

[0097] After the welding extension is disturbed, record the deviation current value. Because the change in welding extension causes a change in the resistance of the welding circuit, the actual average current value will naturally deviate from the initially set target average current value. It is necessary to accurately record this new actual average current value after the deviation.

[0098] Subsequently, the core step of compensation adjustment is to adjust the reference wire feed speed to restore the welding current from the deviation value to the target average current value. This means that the control unit or experimenter needs to actively adjust the speed of the wire feed motor until the monitored actual average current value just rises or falls back to the initially set target average current value, which is the wire feed speed value that can restore the entire welding machine to a balanced state, i.e., the real-time wire feed speed after compensation for each disturbance.

[0099] Finally, the deviation current value and the real-time wire feed speed are used as a set of compensation relationship pairs in the target compensation relationship. This set of data pairs (e.g., [deviation current value A, compensation speed value X]) is recorded and stored.

[0100] In order to establish a complete target compensation relationship that can cope with various disturbances, it is necessary to iteratively execute the above process of perturbing the standard dry extension until the deviation current value and the real-time wire feeding speed are used as a set of compensation relationship pairs in the target compensation relationship, until the preset cutoff condition is reached and multiple sets of the compensation relationship pairs are obtained.

[0101] The preset cutoff condition may be that a sufficient number of data pairs have been acquired, or that the range of the disturbance's dry elongation has covered all expected workpiece tolerance ranges.

[0102] Finally, based on the multiple sets of compensation relationship pairs, the target compensation relationship is constructed. These multiple sets of data pairs collectively define a complete mapping between the actual average current value and the required target wire feed speed under the current target average current value. This data can be organized into a data lookup table or used to fit a mathematical curve function, thereby forming the final target compensation relationship that can be used by the control system.

[0103] Figure 8 This is a schematic diagram illustrating the compensation relationship between the actual average current value and the target wire feed speed in an embodiment of the present invention, as shown below. Figure 8 As shown, by executing Figure 7 The process shown yields a series of compensation relationship pairs. Then, a data point is located based on each compensation relationship pair. All these data points together constitute the target compensation relationship, which is... Figure 8 The middle is schematically represented as a smooth curve, where the equilibrium point corresponds to the reference wire feed speed and the target average current value under standard dry elongation.

[0104] By employing the aforementioned method for constructing the target compensation relationship, this invention can establish a high-precision compensation model for each welding process level based on accurate and repeatable experimental data, ensuring the effectiveness and reliability of the compensation relationship and providing a guarantee for achieving a highly stable welding process. Compared with pure theoretical calculations or simple linear compensation, it has significant technical advantages.

[0105] In the above embodiments, based on the established compensation relationship pairs containing multiple sets of actual average current values ​​and target wire feeding speed values, in order to enable the control unit to perform fast and smooth real-time calculations based on these compensation relationship pairs, a preferred approach is to mathematically model these discrete compensation relationship pairs.

[0106] As an optional embodiment, the present invention determines the target wire feeding speed corresponding to the actual average current value based on the target compensation relationship, specifically including: inputting the target compensation relationship into a fitting curve function representing the target compensation relationship, and obtaining the target wire feeding speed output by the fitting curve function.

[0107] Specifically, after obtaining multiple sets of compensation relationship pairs during the offline calibration phase, multinomial regression, spline interpolation, or other curve fitting algorithms can be used to process these compensation relationship pairs, thereby obtaining a fitted curve function that can accurately describe the functional relationship between them, for example:

[0108] V target =f(I actual ).

[0109] Among them, V target This refers to the target wire feed speed, I actualThis refers to the actual average current value, and the fitting curve function f() is embedded in the control unit's software program.

[0110] In actual online control, once the control unit obtains the real-time average current value, it no longer needs to traverse a large data table. Instead, it directly substitutes the actual average current value as the independent variable into the fitted curve function f(), and through a simple mathematical operation, the precise and corresponding target wire feeding speed can be calculated instantly. This method has advantages such as fast calculation speed, small storage space occupation, and smooth and continuous output, greatly improving the response speed and adjustment smoothness of the control unit.

[0111] Of course, those skilled in the art will understand that the methods for implementing the "determining" step are not limited to this. The implementation of the target compensation relationship is diverse. Besides using a fitted curve function, it may include, but is not limited to:

[0112] (1) Look-up Table: The compensation relationship pairs obtained from offline calibration are stored in the memory of the control unit in the form of a table. When determining the target wire feed speed, the corresponding target wire feed speed is obtained by looking up the entry that is closest to the current actual average current value. To improve accuracy, linear interpolation or more complex interpolation algorithms can also be used to calculate the value between two adjacent data points in the table.

[0113] (2) Piecewise function: Divide the entire current variation range into several sub-intervals, and use an independent, possibly simpler function (such as a linear function) to describe the compensation relationship in each sub-interval.

[0114] (3) Artificial intelligence model: The obtained compensation relationship can also be used as training data to train a neural network or other machine learning model. The trained model can learn a more complex nonlinear relationship between the actual average current value and the target wire feeding speed, thereby achieving more intelligent and adaptive compensation.

[0115] Based on any of the above embodiments, this embodiment further discloses an optimized welding process adopted by the present invention, which aims to improve the arc characteristics from the source, making it more suitable for butt welding of thin plates, thereby complementing the aforementioned closed-loop control method and jointly improving the welding quality.

[0116] In this embodiment, the actual average current value is obtained by statistically analyzing the real-time welding current. The real-time welding current refers to the current that flows instantaneously in the welding circuit and changes rapidly over time, and it usually presents as a pulse waveform.

[0117] Figure 9 This is a schematic diagram of pulse current waveform adjustment in an embodiment of the present invention. Figure 10 This is a schematic diagram illustrating the principle of pulse effective current value calculation in an embodiment of the present invention, as shown below. Figure 9 and Figure 10 As shown, the core of this embodiment lies in the active design and optimization of the waveform of the real-time welding current to form a soft but not weak electric arc.

[0118] Specifically, the welding method provided by this invention further includes: when reducing the pulse peak current of the real-time welding current, adjusting at least one other waveform parameter to reduce the pulse effective current value of the real-time welding current, and ensuring that the energy within one pulse cycle is sufficient to achieve a stable transition of the molten droplet at the end of the welding wire. This step embodies a design method that seeks the optimal balance between macroscopic heat reduction and microscopic precision.

[0119] Firstly, at the macroscopic heat reduction level, to address the issue of burn-through during thin-plate welding, this method reduces the peak pulse current value of the real-time welding current. For example... Figure 9 As shown, compared to the traditional waveform (left), the pulse peak current value of the waveform of this invention (right) is significantly reduced. According to... Figure 10 The pulse effective current value I shown RMS According to the calculation principle, the heat input power in the welding process is proportional to the square of the current:

[0120] ;

[0121] Among them, I n It refers to the tth n Instantaneous current sampling values ​​within a time period.

[0122] Therefore, by reducing the pulse peak current, which is the main contributor to heat, the effective pulse current value of the real-time welding current can be reduced very effectively, thus directly reducing the overall heat input applied to the thin plate workpiece. At the same time, the lower pulse peak current value also weakens the impact force of the arc plasma flow on the molten pool, avoiding the weld burn-through caused by blowing away the liquid metal due to excessive impact force, thereby achieving gentle heating of the thin plate.

[0123] Secondly, at the microscopic precision level, to avoid welding instability due to insufficient energy, this invention, while reducing the peak pulse current, must ensure sufficient energy within one pulse cycle to achieve a stable transition of the molten droplet at the wire tip. The essence of the welding process is the melting of the wire tip, the formation of a droplet, and its smooth dripping into the molten pool under the action of the arc force. If the energy of a single pulse cycle is insufficient, a normal droplet transition cannot be completed, easily leading to excessive growth of the droplet at the wire tip, eventually contacting the molten pool and forming a short circuit. The sudden increase in current during a short circuit can trigger explosive metal spatter, severely affecting weld formation and arc stability. Therefore, this invention precisely adjusts the energy of each pulse to achieve an ideal jet transition of one droplet per pulse.

[0124] To achieve the balance between macroscopic heat reduction and microscopic precision, this invention reduces the peak pulse current value while adjusting at least one other waveform parameter for energy compensation.

[0125] In a preferred embodiment, the other waveform parameters include the pulse width within one pulse period. For example... Figure 9 As shown, while reducing the peak pulse current, the duration of the peak pulse current can be moderately increased, i.e., the pulse width can be increased. Through this peak-shaving and valley-filling adjustment, the total energy integral of a single pulse can be maintained at the level required for stable droplet transition while effectively reducing the arc impact force and the effective pulse current value. For example, even if the peak pulse current value is reduced from 300A to 250A, by extending the peak time from 1.0ms to 1.2ms, stable droplet formation and transition can still be ensured.

[0126] Of course, those skilled in the art will understand that the other waveform parameters may also include the magnitude of the base current, the pulse frequency, the current rise / fall slope, etc., and the above-mentioned technical effects can be achieved by coordinating the adjustment of these parameters.

[0127] In summary, this invention redesigns the real-time welding current waveform, using a series of low-energy, gentle-impact pulses to deliver the welding wire material into the molten pool in a stable and continuous manner. This ensures sufficient penetration to guarantee weld strength without burning through thin plates due to excessive impact in a single pulse, while also guaranteeing a smooth process with low spatter, ultimately achieving the ideal single-sided welding with double-sided forming process effect.

[0128] Figure 11 This is a block diagram illustrating the principle of dual-loop collaborative control in an embodiment of the present invention, as shown below. Figure 11As shown, based on the control loop provided in the above embodiments that achieves constant heat input by regulating the wire feeding speed, the present invention introduces feedback control of the arc length, forming a dual-loop collaborative control system to further improve the overall stability of the welding process.

[0129] Specifically, this embodiment provides a more detailed implementation method for adjusting the actual wire feed speed of real-time welding to the target wire feed speed, the steps of which specifically include:

[0130] First, the actual average voltage value of the real-time welding is obtained. During the welding process, in addition to monitoring the current through a current sensor, the control system also collects the voltage signal across the welding circuit in real time through a voltage sensor and calculates its average value over a short period of time, i.e., the actual average voltage value. In gas metal arc welding (GMAW), the actual average voltage value has a strong positive correlation with the arc length; therefore, monitoring the actual average voltage value can effectively characterize the actual arc length.

[0131] Next, based on the deviation between the actual average voltage value and a preset target average voltage value, the target wire feed speed, determined by the target compensation relationship, is adjusted to generate a final target wire feed speed. This step is the core of the dual-loop collaborative operation. The preset target average voltage value is a pre-set process parameter that represents the ideal arc length to be maintained. In this step, the control unit performs two parallel calculations:

[0132] (1) Current loop (inner loop): As described in the previous embodiment, a target wire feeding speed with the main purpose of maintaining constant heat input can be determined based on the actual average current value and the target compensation relationship.

[0133] (2) Voltage loop (outer loop): The actual average voltage value is compared with the preset target average voltage value to obtain a voltage deviation signal. This deviation signal will generate a voltage compensation amount.

[0134] Subsequently, the outputs of these two loops are superimposed or work synergistically. Specifically, the voltage compensation generated by the voltage loop will perform secondary, fine-tuned compensation and adjustment on the target wire feed speed determined by the current loop, thereby generating a final target wire feed speed that takes into account both thermal input stability and arc length stability.

[0135] For example, when the arc is too long (actual voltage is higher than the target), the voltage loop will generate a compensation signal to increase the wire feeding speed; when the arc is too short (actual voltage is lower than the target), a compensation signal to decrease the wire feeding speed will be generated. The generated compensation signal will be superimposed on the output of the current loop.

[0136] Finally, the actual wire feeding speed is adjusted to the final target wire feeding speed. The control system sends a command to the wire feeding motor to operate at this final target wire feeding speed generated after dual-loop collaborative decision-making.

[0137] This invention employs a dual-loop collaborative control method. While ensuring consistent weld quality with a constant average current as the core objective, it introduces real-time stable control of the arc length to guarantee a smooth welding process and prevent arc interruption or frequent short circuits. These two control loops complement each other, enabling the entire welding system to maintain stable heat input and arc shape when faced with external disturbances such as workpiece non-circularity, thereby achieving a higher level of process stability and reliability.

[0138] As an optional embodiment, the target object is a thin plate cylindrical workpiece, and the welding method is a butt welding method.

[0139] In this embodiment, the thin-plate cylindrical workpiece refers to a cylindrical or can-shaped component widely used in household appliances, pressure vessels, pipelines, and other fields, formed by rolling or stamping thin metal sheets (e.g., steel plates with a thickness of 1-3 mm). Due to their thin walls, these workpieces are extremely sensitive to heat input control during welding; even slight miscalculations in heat can easily lead to burn-through or significant thermal deformation. The constant heat input control method and waveform optimization method described in this invention can precisely control the heat applied to the workpiece, making them particularly suitable for welding such thin-plate workpieces.

[0140] The butt welding method refers to a connection method in which the end faces of two workpieces are placed opposite each other and welded along their joint. For thin-plate cylindrical bodies, such as the circumferential weld between the inner tank and the end cap of a water heater, this is a typical butt welding. This invention, by achieving constant heat input and optimized arc characteristics, can achieve high-quality single-sided welding with double-sided forming without the use of a backing. This means the weld seam is aesthetically pleasing on the front and forms a uniform, continuous weld seam on the back, ensuring the tightness and strength of the joint.

[0141] In order to further focus on the core technical problem to be solved by the present invention, in this embodiment the thin plate cylindrical workpiece is defined as a workpiece with non-roundness or clamping eccentricity.

[0142] like Figure 2As shown, due to manufacturing and assembly tolerances, thin-plate cylindrical workpieces in actual production almost inevitably have a certain degree of non-roundness (i.e., the cross-section is not a standard circle, but an ellipse or other irregular shape), or there may be clamping eccentricity in automated welding fixtures. Both of these situations lead to the same result: when the workpiece rotates in the welding position, the distance between the welding torch tip and the workpiece surface (i.e., the weld extension) will change continuously and periodically. This is precisely the root cause of uncontrolled welding current and unstable quality in existing technologies.

[0143] The welding method described in this invention features a core closed-loop control system designed to actively and in real-time compensate for changes in weld elongation caused by workpiece geometric deviations. Therefore, this invention offers unparalleled technical advantages over existing technologies when handling workpieces with non-roundness or eccentric clamping, ensuring high stability of the welding process and high consistency of the final weld quality even under these less-than-ideal conditions.

[0144] Figure 12 This is a schematic diagram of the welding device provided by the present invention, as shown below. Figure 12 As shown, the present invention also provides a welding apparatus, mainly comprising:

[0145] Current acquisition unit 1 is used to acquire the actual average current value of the target object during real-time welding.

[0146] Speed ​​mapping unit 2 is used to determine the target wire feeding speed corresponding to the actual average current value according to the target compensation relationship;

[0147] The wire feeding control unit 3 is used to adjust the actual wire feeding speed of the real-time welding to the target wire feeding speed.

[0148] The target compensation relationship is uniquely determined from a predetermined set of compensation relationships based on the target average current value for welding the target object. The target compensation relationship includes the correspondence between different actual average current values ​​and different target wire feed speeds.

[0149] Specifically, the current acquisition unit 1 can be, for example, a high-precision Hall current sensor, which is set in the welding circuit to continuously acquire the actual average current value of the target object for real-time welding.

[0150] The speed mapping unit 2 can be composed of a microcontroller unit (MCU) or a digital signal processor (DSP) and the software program running on it. The speed mapping unit 2 is responsible for receiving the actual average current value provided by the current acquisition unit 1, and determining the target wire feeding speed corresponding to the actual average current value according to a preset target compensation relationship.

[0151] The wire feeding control unit 3 mainly includes a wire feeding drive motor and its drive circuit. The wire feeding control unit 3 is mainly responsible for receiving the target wire feeding speed command determined by the speed mapping unit 2, and accurately adjusting the actual wire feeding speed of the real-time welding to the target wire feeding speed.

[0152] The welding apparatus provided by this invention can actively adjust the wire feeding speed to compensate for the deviation of the actual average current value monitored during the welding process through a pre-established compensation relationship. This ensures a constant heat input throughout the welding process, solves the technical problems of welding current fluctuations and inconsistent weld formation caused by changes in dry extension due to factors such as non-roundness of the workpiece, and significantly improves the quality and reliability of the weld.

[0153] Figure 13 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 13 As shown, the electronic device may include a processor 1310, a communications interface 1320, a memory 1330, and a communication bus 1340, wherein the processor 1310, the communications interface 1320, and the memory 1330 communicate with each other via the communication bus 1340. The processor 1310 can call logical instructions in the memory 1330 to execute a welding method, which includes: acquiring the actual average current value for real-time welding of a target object; determining a target wire feed speed corresponding to the actual average current value according to a target compensation relationship; and adjusting the actual wire feed speed for real-time welding to the target wire feed speed. The target compensation relationship is uniquely determined from a predetermined set of compensation relationships based on the target average current value for welding the target object, and the target compensation relationship includes the correspondence between different actual average current values ​​and different target wire feed speeds.

[0154] Furthermore, the logical instructions in the aforementioned memory 1330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0155] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer is able to execute the welding method provided in the above embodiments, the method including: obtaining the actual average current value for real-time welding of a target object; determining a target wire feed speed corresponding to the actual average current value according to a target compensation relationship; adjusting the actual wire feed speed for real-time welding to the target wire feed speed; the target compensation relationship is uniquely determined from a predetermined set of compensation relationships based on the target average current value for welding the target object, the target compensation relationship including the correspondence between different actual average current values ​​and different target wire feed speeds.

[0156] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the welding methods provided in the above embodiments. The method includes: acquiring the actual average current value for real-time welding of a target object; determining a target wire feed speed corresponding to the actual average current value according to a target compensation relationship; adjusting the actual wire feed speed for real-time welding to the target wire feed speed; wherein the target compensation relationship is uniquely determined from a predetermined set of compensation relationships based on the target average current value for welding the target object, and the target compensation relationship includes the correspondence between different actual average current values ​​and different target wire feed speeds.

[0157] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0158] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A welding method characterized by, The method comprises: acquiring an actual average current value of real-time welding of a target object; determining a target wire feeding speed corresponding to the actual average current value according to a target compensation relationship; adjusting an actual wire feeding speed of the real-time welding to the target wire feeding speed; the target compensation relationship is uniquely determined from a pre-determined compensation relationship set based on a target average current value of welding of the target object, and the target compensation relationship contains a corresponding relationship between different actual average current values and different target wire feeding speeds; the compensation relationship set is a data structure in which a plurality of sets of compensation relationships are stored, and each set of compensation relationships corresponds to a target average current value; the construction method of the compensation relationship set comprises: for each of a plurality of different target average current values, a corresponding target compensation relationship is established respectively; wherein, the process of establishing the target compensation relationship corresponding to each target average current value comprises acquiring a plurality of different actual average current values generated by changing the standard dry elongation, and determining the target wire feeding speed corresponding to each of the plurality of different actual average current values respectively, which can restore the actual average current value to the target average current value; the target compensation relationship for any target average current value is constructed based on the following way: determining a reference wire feeding speed, which is the wire feeding speed when the welding current is stable at the any target average current value under the standard dry elongation; perturbing the standard dry elongation; recording the deviated current value after perturbation; adjusting the reference wire feeding speed to obtain the real-time wire feeding speed when the welding current is restored from the deviated current value to the any target average current value; taking the deviated current value and the real-time wire feeding speed as a set of compensation relationship pairs in the target compensation relationship; iteratively performing the process of perturbing the standard dry elongation to taking the deviated current value and the real-time wire feeding speed as a set of compensation relationship pairs in the target compensation relationship until a pre-set stopping condition is reached, to obtain a plurality of sets of compensation relationship pairs; constructing the target compensation relationship based on the compensation relationship pairs.

2. The welding method according to claim 1, characterized in that, determining the target wire feeding speed corresponding to the actual average current value according to the target compensation relationship comprises: inputting the target compensation relationship into a fitting curve function representing the target compensation relationship, and acquiring the target wire feeding speed output by the fitting curve function.

3. The welding method of claim 1, wherein, the actual average current value is obtained by statistical analysis of real-time welding current; the welding method further comprises: when reducing the pulse peak current of the real-time welding current, adjusting at least one other waveform parameter to reduce the pulse effective current value of the real-time welding current, and the energy in a pulse cycle meets the requirement of realizing stable transfer of the welding wire end droplet.

4. The welding method according to claim 3, characterized in that, the other waveform parameter includes the pulse width in a pulse cycle.

5. The welding method of claim 1, wherein, adjusting the actual wire feeding speed of the real-time welding to the target wire feeding speed comprises: acquiring an actual average voltage value of the real-time welding; compensate and adjust the target wire feeding speed determined by the target compensation relationship according to a deviation between the actual average voltage value and a preset target average voltage value; adjust the actual wire feeding speed to the target wire feeding speed after compensation and adjustment.

6. The welding method of claim 1, wherein, The target object is any thin plate cylinder workpiece, and the welding method is a butt welding method.

7. The welding method of claim 6, wherein, The thin plate cylinder workpiece is a workpiece with eccentricity or clamping eccentricity.

8. A welding device characterized by, Comprise: a current acquisition unit configured to acquire an actual average current value of real-time welding on a target object; a speed mapping unit configured to determine a target wire feeding speed corresponding to the actual average current value according to a target compensation relationship; a wire feeding control unit configured to adjust an actual wire feeding speed of real-time welding to the target wire feeding speed; The target compensation relationship is uniquely determined from a preset compensation relationship set based on a target average current value of welding on the target object, and the target compensation relationship contains a corresponding relationship between different actual average current values and different target wire feeding speeds. The compensation relationship set is a data structure in which a plurality of sets of compensation relationships are stored, and each set of compensation relationships corresponds to a target average current value. The construction method of the compensation relationship set comprises: establishing a corresponding target compensation relationship for each of a plurality of different target average current values; wherein the process of establishing the target compensation relationship corresponding to each target average current value comprises acquiring a plurality of different actual average current values generated by changing the standard dry elongation, and determining a target wire feeding speed corresponding to each of the plurality of different actual average current values, which can restore the actual average current value to the target average current value; The target compensation relationship for any target average current value is constructed based on the following method: determine a reference wire feeding speed, which is the wire feeding speed when the welding current is stabilized at the target average current value under the standard dry elongation; perturb the standard dry elongation; record the deviated current value after perturbation; adjust the reference wire feeding speed to the real-time wire feeding speed when the welding current is restored from the deviated current value to the target average current value; take the deviated current value and the real-time wire feeding speed as a set of compensation relationship pairs in the target compensation relationship; iteratively execute the process of perturbing the standard dry elongation to taking the deviated current value and the real-time wire feeding speed as a set of compensation relationship pairs in the target compensation relationship until a preset stopping condition is reached, and acquire a plurality of sets of compensation relationship pairs; construct the target compensation relationship based on the compensation relationship pairs.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the welding method of any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the welding method of any one of claims 1 to 7.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the welding method of any one of claims 1 to 7.

Images