• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1404-1407
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• 1996

A quality monitoring system in butt welding process is proposed to estimate weld pool sizes. The geometrical parameters of the weld pool such as the top bead width and the penetration depth plus half back width are utilized to prove the integrity of the weld quality. The monitoring variables used are the surface temperatures measured at three points on the top surface of the weldment. The temperature profile is assumed that it has a gaussian distribution in vertical direction of torch movement and verify this assumption through temperature analysis. A neural network estimator is designed to estimate weld pool size from temperature informations. The experimental results show that the proposed neural network estimator which used gaussian distribution as temperature information can estimate the weld pool sizes accurately than used three point temperatures as temperature information. Considering the change of gap size in butt welding, the experiment were performed on various gap size.

• Journal of Welding and Joining
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• v.12 no.1
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• pp.59-72
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• 1994

This paper presents an on-line quality monitoring and control method to obtain a uniform weld quality in gas metal arc welding (GMAW) processes. The geometrical parameters of the weld pool such as the top bead width and the penetration depth plus half back width are utilized to assess the integrity of the weld quality. Since a good quality weld is characterized by a relatively high depth-to-width ratio in its dimensions, the second geometrical parameter is regulated to a desired one. The monitoring variables are the surface temperatures measured at various points on the top surface of the weldment which are strongly related to the formation of the weld pool The relationship between the measured temperatures and the weld pool size is implemented on the multilayer perceptrons which are powerful for realization of complex mapping characteristics through training by samples. For on-line quality monitoring and control, it is prerequisite to estimate the weld pool sizes in the region of transient states. For this purpose, the time history of the surface temperatures is used as the input to the neural estimator. The control purpose is to obtain a uniform weld quality. In this research, the weld pool size is directly regulated to a desired one. The proposed controller is composed of a neural pool size estimator, a neural feedforward controller and a conventional feedback controller. The pool size estimator predicts the weld pool size under growing. The feedforward controller compensates for the nonlinear characteristics of the welding process. A series of simulation studies shows that the proposed control method improves the overall system response in the presence of changes in torch travel speed during GMA welding and guarantees the uniform weld quality.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.4
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• pp.89-95
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• 1997

Welding technique is widely applied to general industry such as pressure vessel for chemical plant, pipe system, heavy industry, and automobile. There are some points which must be considered when robot system is used in welding automation process for productivity improvement. Welding quality is governed by heat input, and this quantity can be different according to shape, property, and thick of material . For desired heat input , weld input parameters such as welding voltage, current, and welding velocity must be determined with those consideration. Until now these parameters have been determined mainly by experience of operator. In this study, the size of welding zone was predicted by fuzzy rules were constructed from the relation between welding variables and weld pool size. Inverse model method which welding control input for welder is determined with optimum voltage and current by fuzzy controller is validatied by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.531-536
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• 1992

In GMA welding processes, monitoring and control of weld quality are extremely difficult problems. This paper describes a neural network-based method for monitoring and control of weld pool sizes. First, weld pool sizes are estimated via a neural estimator using multi-point surface temperatures, which are strongly related to the formation of weld pool, and then controlled using the estimated pool sizes. Two types of controllers using the pool size estimator are designed and tested. To evaluate the performance of the designed controllers, a series of simulation studies was performed.

• Journal of Welding and Joining
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• v.16 no.5
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• pp.119-133
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• 1998

To implement full automation in pipe welding, it si most important to develop special sensors and their related systems which act like human operator when detecting irregular groove conditions. In this study, an automatic pipe Gas Metal Arc Welding (GMAW) system was proposed to full control pipe welding procedure with intelligent sensor systems. A five-axes manipulator was proposed for welding torch to automatically access to exact welding position when pipe size and welding angle were given. Pool status and torch position were measured by using a weld-pool image monitoring and processing technique in root-pass welding for weld seam tracking and weld pool control. To overcome the intensive arc light, pool image was captured at the instance of short circuit of welding power loop. Captured image was processed to determine weld pool shape. For weld seam tracking, the relative distance of a torch position from the pool center was calculated in the extracted pool shape to move torch just onto the groove center. To control penetration of root pas, gap was calculated in the extracted pool image, and then weld conditions were controlled for obtaining appropriate penetration. welding speed was determined with a fuzzy logic, and welding current and voltage were determined from a data base to correspond to the gap. For automatic fill-pass welding, the function of human operator of real time weld seam control can be substituted by a sensor system. In this study, an arc sensor system was proposed based on a fuzzy control logic. Using the proposed automatic system, root-pass welding of pipe which had gap variation was assured to be appropriately controlled in welding conditions and in torch position by showing sound welding result and good seam tracking capability. Fill-pass welding by the proposed system also showed very successful result by tracking along the offset welding line without any control of human operator.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.527-529
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• 1986

Measurement and control system of weld pool is comprised of optical devices, image processor, personal computer and welding machine. Combinations of ND and Infrared filters were used to block the intense arc light and to get the clearer image of weld pool. Smoothing operation and conversion to binary data were performed to eliminate the noises and to decrease the processing time. A simple algorithm for feedback control was developed and weld pool size is controlled by welding current which is adjusted automatically with personal computer.

• Laser Solutions
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• v.2 no.2
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• pp.18-26
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• 1999

An innovative real-time weld monitoring technique using chromatic filtering of the thermal radiation from a weld pool is developed. The thermal radiation from the weld pool is focused on an aperture and the transmitted thermal radiation is monitored at two wavelengths with high-speed single-element detectors. Due to the chromatic aberration introduced in the focusing optics, the transmittance curve of thermal radiation varies by the wavelength. Owing to this difference in the transmittance, the local variation of thermal radiation from the weld pool can be monitored by processing the two spectroscopic signals from two detectors. In this paper, the algorithms to monitor the laser power on the weld specimen and the focus shift we investigated and the performances of laser power and focus monitoring are shown for a pulsed Nd:YAG laser welding. The monitoring of the weld pool size variation is also discussed.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.71-78
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• 2001

In GMA(Gas Metal Arc)Welding, the weld size that is a locally melted area of a workpiece is one of the most important considerations in determining the strength of a welded structure. Variations in the weld power and the welding heat flux may affect the weld pool formation and ultimately the size of the weld. Therefore, an accurate prediction of the weld size requires a precise analysis of the weld thermal cycle. In this study, a model which can estimate the weld bead geometry and a method for thermal analysis, including the model, are suggested. In order to analyze the weld bead geometry, a mathematical model was developed with transformed coordinates to apply to the horizontal fillet joints. A heat flow analysis was performed with a two dimensional finite element model that was adopted for computing the base metal melting zone. The reliability of the proposed model and the thermal analysis was evaluated through experiments, and the results showed that the proposed model was very effective for predicting the weld bead shape and good correspondence in melting zone of the base metal.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.151-155
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• 2002

In GMA(Gas Metal Arc)Welding, the weld size that is a locally melted area of a workpiece is one of the most important considerations in determining the strength of a welded structure. Variations in the weld power and the welding heat flux may affect the weld pool formation and ultimately the size of the weld. Therefore, an accurate prediction of the weld size requires a precise analysis of the weld thermal cycle. In this study, a model which can estimate the weld bead geometry and a method for thermal analysis, including the model, are suggested. In order to analyze the weld bead geometry, a mathematical model was developed with transformed coordinates to apply to the horizontal fillet joints. A heat flow analysis was performed with a two dimensional finite element model that was adopted for computing the base metal melting zone. The reliability of the proposed model and the thermal analysis was evaluated through experiments, and the results showed that the proposed model was very effective for predicting the weld bead shape and good correspondence in melting zone of the base metal.

• Journal of the Optical Society of Korea
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• v.4 no.2
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• pp.94-99
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• 2000

Optical monitoring using the chromatic aberration of focusing optics is applied to auto-focus control in laser welding. The spectral transmittance of thermal radiation from a weld pool through an aperture depends on the wavelength of the spectral band and on the distance of the weld pool from the focusing optics. Its dependence has been used to monitor the focus shift in laser welding by measuring the spectral band signals filtered by the aperture. The difference between pulsed and continuous laser welding is analyzed. Furthermore, the dependence of the focus shift monitoring on the weld pool size variation is optimized to monitor the focus shift independently from the laser power change at the weld pool. The performance of the auto-focus control with chromatic filtering is presented for pulsed laser welding.