novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.23.637-642novtexmech-1287Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSМодели и алгоритмы управления качеством продукции при сварке роботизированными технологическими комплексамиThe Models and Algorithms for Product Quality Control in Welding by Robotic Technological ComplexesФоминыхД. С.FominykhD. S.

канд. техн. наук, ст. науч. сотр

Сand. of Sc., Senior Researcher

dm_fominyh@mail.ruРезчиковА. Ф.RezchikovA. F.

д-р техн. наук, проф., член-корр. РАН

КушниковВ. А.KushnikovV. A.

д-р техн. наук, проф

ИващенкоВ. А.IvaschenkoV. A.

д-р техн. наук, проф.

БогомоловА. С.BogomolovA. S.

д-р техн. наук, доц

Институт проблем точной механики и управления — обособленное структурное подразделение Федерального государственного бюджетного учреждения науки Федерального исследовательского центра "Саратовский научный центр РАН", Институт проблем управления им. В. А. Трапезникова РАНРоссияSaratov Science Center of RAS. Institute of Precision Mechanics and Control of RAS, V. A. Trapeznikov Institute of Control Sciences of RASRussian Federation2022071220222312637642Copyright © Commercial Publisher «New Technologies», 20222022Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1287

Рассматриваются модели и алгоритмы, позволяющие осуществить управление качеством сварки роботизированными технологическими комплексами. Отличие описываемого подхода к решению задачи заключается в использовании математического аппарата вариационного исчисления и определении планов действий, обеспечивающих минимальное отклонение фактических значений показателей качества процесса от заданных значений. Входными данными модели являются целевые значения показателей качества технологического процесса, их фактические значения за определенный период и перечни мероприятий по повышению качества процесса. Для вычисления отклонения показателей качества рассмотрены целевые функции, которые минимизируются при решении задачи. Рассмотрен подход на примере дуговой сварки металлоконструкций с использованием робототехнических комплексов Kawasaki с контроллерами C40. Область применения разработанного программного обеспечения — системы управления робототехническими комплексами.

The article discusses models and algorithms that allow quality control in welding by robotic technological complexes. The difference of this approach to solving the problem lies in the use of the calculus of variations and the definition of action plans that ensure the minimum deviation of the actual values of the actual values of the process quality indicators from the given values. The input data of the model are the target values of the quality indicators of the technological process, their actual values for a certain period and lists of measures to improve the quality of the process. As a measure of the deviation of quality indicators, objective functions were considered, which are minimized when solving the problem. An approach is considered on the example of arc welding of metal structures using Kawasaki robotic technological complexes with C40 controllers. The area of application of the developed software is the control systems of robotic complexes.

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The authors declare that there are no conflicts of interest present.