关键词: GTAW焊接, 迭代学习控制, 两输入两输出, 跟踪控制

Abstract: The welding of same parts have the same welding trajectory, so the welding process has strong repeatability. Aiming at the repeatability of welding process, the tracking control problem of gas tungsten arc welding process with double input and output is studied based on iterative learning control. According to the dynamic model of gas tungsten arc welding, the iterative learning control algorithm of welding process control is designed, and the convergence of the algorithm is analyzed. It turns out that the repeated information of welding can be used effectively by the iterative learning control in the process of welding. After 80 times of iteration, the actual output of the welding system can better track on the desired trajectory and realize the high precision tracking control in the finite interval. It verifies the effectiveness of the proposed method. The better tracking performance can be acquired by ILC in contrast to PID algorithm.

Key words: Gas tungsten arc welding, iterative learning control, double input and output, tracking control