Automatic GTAW Robot Arc Length Control Based on Particle Filter

Abstract

In the automatic GTAW robot welding process, workpiece-surface unevenness and tungsten-electrode loss are so common that frequently cause the fluctuation of welding arc length and the unstable welding quality. In order to solve the phenomenon, this paper collected real-time welding arc voltage, and obtained the arc length data by the relationship between arc length and arc voltage by using an arc voltage sensor, and proposed a particle-filter-based automatic GTAW robot arc length adjustment method to eliminate the nonlinear non-Gaussian noise in the welding process, which can accurately and quickly control the arc length of the welding robot. Experiment results showed that the designed method can effectively improve the stability of the welding arc length and the welding quality.