Abstract: Considering that in the research of current brazing technology, most of the adjustment of arc length needs manual operation, so it is impossible to control the arc length accurately. However, the control method of the existing automatic control system is relatively backward, and the response characteristics and stability are poor. The control method of welding gun manipulator of brazing equipment is studied in this paper, and a welding machine arc length adjusting control method based on variable domain fuzzy PID is studied. Through numerical simulation and experiment, it is verified that the arc length adjusting control method based on variable universe fuzzy PID has short adjusting time and almost no overshoot. Using this method to adjust the arc length under various working conditions is conducive to maintaining the arc stability.

Key words: Welding gun manipulator, arc length adjustment, variable universe, fuzzy PID algorithm

摘要： 考虑到现有钎焊技术研究中，对电弧长度的调节大部分需要人工操作，无法精准定位来控制电弧长度，而已有的自动控制系统的控制方法较为落后，响应特性及稳定性差等问题，对钎焊设备焊枪机械手控制方法进行研究，研究一种基于变论域模糊PID的焊机电弧长度调节控制方法。通过数值仿真和实验的方法验证了所研究的基于变论域模糊PID电弧长度调节控制方法具有较短的调节时间，几乎没有超调量。使用此方法在各个工况下调节电弧长度，有利于维持电弧稳定。

关键词: 焊枪机械手, 电弧长度调节, 变论域, 模糊PID算法