船舶焊接末端受电抖振及其电频细化研究

船舶焊接领域中，钢板等焊接不可避免的会产生焊接残余应力，针对这一问题，文章通过分析焊接机器人焊枪末端受电抖振及其扰动等影响来揭示其响应规律。首先通过搭建的焊接模型阐明焊接过程动力学特性，然后研究不同特性电弧力对焊枪运动稳定性的影响，探索末端焊枪作业稳定性与焊接区电弧力及电源频率等参量之间响应关系，并对多组不同驱动电频下的焊接运动进行动力学仿真，得到电频变化与电弧力的对应规律。研究表明，焊接电源频率的有效细化有利于末端焊枪焊接运动过程的平稳，且发现最优焊接电源频率在10HZ邻域时焊枪末端动态振动最小，通过控制电源频率大小能明显抑制焊枪振动，在一定程度上降低残余应力大小，有利于船舶焊接表面质量的提高。

Study on buffeting at welding end of ship and its electrical frequency refinement

In the field of ship welding, steel plate and other welding inevitably produce welding residual stress. In view of this problem, this paper reveals the response law of welding robot by analyzing the influence of electric chattering on the end of welding gun and its disturbance. First through constructing the model of welding welding process dynamics characteristics, then the different characteristics of arc force influence on the stability of the welding torch movement, explore the torch at the end of the operation stability and welding arc force and power frequency response relationship between the parameters, and the multiple sets of welding under different driving voltage frequency motion dynamics simulation, get the electric frequency changes and the corresponding rule of arc force. Research shows that effective elaboration to end welding torch welding welding power frequency motion process smoothly, and found the optimal welding power frequency in 10 hz neighborhood when dynamic vibration welding torch at the end of the youngest, by controlling the size of the power frequency can obviously restrain vibration welding torch, to a certain extent, reduce the size of residual stress, beneficial to the improvement of the surface quality of ship welding.