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针对非平稳性噪声下焊缝跟踪精度低的问题,提出了一种基于凸优化技术的自适应焊缝跟踪方法。通过熔池质心来描述焊缝位置特征,建立焊缝跟踪的状态方程和量测方程;运用凸优化理论,将量测过程中非平稳噪声的稀疏性特征以先验约束的形式引入优化过程中,通过最小化非平稳噪声的范数实现对非平稳噪声的实时估计。试验结果表明,基于凸优化的自适应焊缝跟踪方法能够减小因非平稳噪声引起的焊缝位置测量偏差,有效提高了焊缝跟踪精度。
Aiming at the problem of low tracking accuracy of non-stationary noise, a new adaptive seam tracking method based on convex optimization is proposed. The weld pool centroid is used to describe the location characteristics of weld seam and the state equation and measurement equation of weld seam are established. By using convex optimization theory, the sparsity characteristics of nonstationary noise in measurement process are introduced into the optimization process in the form of prior constraint , Real-time estimation of nonstationary noise is achieved by minimizing the norm of nonstationary noise. The experimental results show that the adaptive weld tracking method based on convex optimization can reduce the deviation of the weld position measurement caused by non-stationary noise and improve the tracking accuracy effectively.