novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.20.29-33novtexmech-562Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSУправление процессом сварки в роботизированных технологических комплексах по критерию качества производимой продукцииControlling the Welding Process in Robotic Te chnological Complexes by the Criterion of Product QualityРезчиковА. Ф.RezchikovA. F.

д-р техн. наук, чл.-корр. РАН.

D. Sc., Corresponding Member  of the RAS.

КушниковВ. А.KushnikovV. A.

д-р техн. наук, проф.

D. Sc., Professor.

ИващенкоВ. А.IvaschenkoV. A.

д-р техн. наук, ст. науч. сотр.

D. Sc., Senior Scientifi c Employee.

ФоминыхД. С.FominykhD. S.

канд. техн. наук.

PhD.

БогомоловА. С.BogomolovA. S.

канд. физ.-мат. наук, доц.

PhD, Associate Professor.

ФилимонюкЛ. Ю.FilimonyukL. Yu.

д-р техн. наук.

Associate Professor.

ptmuran@san.ruИнститут проблем точной механики и управления РАН.РоссияInstitute of Precision Mechanics and Control of RAS.Russian Federation2019140120192012933Copyright © Commercial Publisher «New Technologies», 20192019Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/562

Предлагается решение задачи управления процессом дуговой сварки роботизированными технологическими комплексами, основанное на принципах системной динамики Дж. Форрестера. Разработаны математические модели и алгоритмы, позволяющие значительно повысить качество дуговой сварки. Предложенное математическое обеспечение проходит апробацию в составе комплекса системы управления роботизированными комплексами Kawasaki на ОАО "Трансмаш" (г. Энгельс).

The solution of the problem of controlling the arc welding process by robotic technological complexes by the quality criterion of the produced products is proposed in this paper. The statement of the problem is given, the criterion of the quality in the form of the goal function is described. The mathematical models based on the principles of J. Forrester’s system dynamics is developed. The main indicators that affect the quality of the welding process in RTC and their relationships are identified as system levels. The external factors that depend on the indicators and affect them are also defined. The functional dependencies of the indicators were obtained as a result of approximation of statistical data based on long-term observations of the process. A system of the differential equations that describe the cause-effect relationships between the indicators and the factors is developed. Based on the mathematical model, an algorithm for the search for control actions, the implementation of which minimizes the goal function was developed. The developed models and the control algorithms might significantly improve the quality of the arc welding process. The proposed software is testing as a part of the RTC Kawasaki technical control system at OJSC "Transmash" (Engels, Russia).

роботизированный технологический комплекстехнологический процесссистемная динамикапоказатель качестваматематическая модельrobotic technological complextechnological processsystem dynamicslevel of qualitymathematical modelReferencesFilaretov V. F., Yukhimets D. A., Zuev A. V., Gubankov A. S. Development of new control methods for mechatronic systems under uncertainty, Bulletin of the Far Eastern Branch of the Russian Academy of Sciences, 2016, no. 4 (188), pp. 108—115 (in Russian).Filaretov V. F., Yukhimets D. A., Zuev A. V., Gubankov A. S. Development of new control methods for mechatronic systems under uncertainty, Bulletin of the Far Eastern Branch of the Russian Academy of Sciences, 2016, no. 4 (188), pp. 108—115 (in Russian).Fominykh D. S., Kushnikov V. A. Models and algorithms for searching of critical combinations of events during welding in robotic complexes, Proceedings of ХХX International Scientific Conference "Mathematical Methods in Technique and Technology — MMTT, 2017, vol. 6, pp. 18—23 (in Russian).Fominykh D. S., Kushnikov V. A. Models and algorithms for searching of critical combinations of events during welding in robotic complexes, Proceedings of ХХX International Scientific Conference "Mathematical Methods in Technique and Technology — MMTT, 2017, vol. 6, pp. 18—23 (in Russian).Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Minimizing the damage from technological process violation in robotic technological welding complexes, Mekhatronika, Avtomatizatsiya, Upravlenie, 2017, no. 5, pp. 328—332 (in Russian).Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Minimizing the damage from technological process violation in robotic technological welding complexes, Mekhatronika, Avtomatizatsiya, Upravlenie, 2017, no. 5, pp. 328—332 (in Russian).Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Prevention of critical events combination in robotic welding, Journal of machinery manufacture and reliability, 2017, vol. 46, no. 4, pp. 370—379.Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Prevention of critical events combination in robotic welding, Journal of machinery manufacture and reliability, 2017, vol. 46, no. 4, pp. 370—379.Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Prevention of emergency situations in the welding process in robotiс technological complexes, Proceedings of Voronezh State University. Series: systems analysis and information technologies, 2017, no. 4, pp. 46—55 (in Russian).Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Prevention of emergency situations in the welding process in robotiс technological complexes, Proceedings of Voronezh State University. Series: systems analysis and information technologies, 2017, no. 4, pp. 46—55 (in Russian).Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Welding process control in robotic technological complexes by the product quality criterion under the risk conditions of unstable states occurrence, Control Systems and Informational Technologies, 2017, vol. 69, no. 3, pp. 65—72 (in Russian).Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Welding process control in robotic technological complexes by the product quality criterion under the risk conditions of unstable states occurrence, Control Systems and Informational Technologies, 2017, vol. 69, no. 3, pp. 65—72 (in Russian).Forrester J. W. Industrial Dynamics, MIT Press, Cambridge, Mass, 1961Forrester J. W. Industrial Dynamics, MIT Press, Cambridge, Mass, 1961Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Control of arc welding process in robotic technologcal complexes based on system dynamics model, Large-scale systems control, 2018, iss. 71, pp. 98—122 (in Russian).Rezchikov A. F., Kushnikov V. A., Ivashchenko V. A., Fominykh D. S., Bogomolov A. S., Filimonyuk L. Yu. Control of arc welding process in robotic technologcal complexes based on system dynamics model, Large-scale systems control, 2018, iss. 71, pp. 98—122 (in Russian).Yandybaeva N. V., Kushnikov V. A. Mathematical model for the prediction of performance of higher school accreditation, Large-scale systems control, 2013, iss. 41, pp. 314—343 (in Russian).Yandybaeva N. V., Kushnikov V. A. Mathematical model for the prediction of performance of higher school accreditation, Large-scale systems control, 2013, iss. 41, pp. 314—343 (in Russian).

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