中文摘要：

文中针对水下机器人焊接的特点,研制了一种可用于水下熔化极气体保护焊的全数字智能潜水送丝系统.以数字信号控制器（DSC）级ARM CortexTM-M4架构的STM32F405RGT6微处理器为控制核心开发了全数字控制系统;设计了基于电机电枢电压负反馈的脉宽调制型半桥可逆斩波的送丝驱动电路,以补偿负载转矩变化带来的送丝速度的变化;开发了基于电涡流式接近开关的焊丝状态检测模块,实现了焊丝状态的非接触、实时监测.实验结果表明,所研制的系统能可靠地监测焊丝状态,在送丝软管状态变化的情况下能够均匀、稳定地送丝,送丝速度变化率小于±3.5%,远低于国家标准规定的数值.

英文摘要：

Aiming at the characteristics of underwater robotic welding process,a digital and intelligent underwater wire feeder is developed for the underwater gas metal arc welding. First,a digital control system is constructed with the DSC microcontroller STM32F405RGT6 based on the ARM CortexTM-M4 architecture as the control core. Then,a PWM-controlled half-bridge reversible chopper circuit based on the negative feedback of armature voltage is designed as the drive circuit,so as to compensate the fluctuation of the wire feeding speed caused by the variation of load torque. Finally,a welding wire detection module based on an eddy current proximity switch is developed,and thus the non-contact and real-time monitoring on the welding wire state is realized. Experimental results indicate that（ 1） the developed underwater wire feeder can monitor the welding wire state reliably,and feed wire uniformly and stably even when the state of wire feeding tube changes; and（ 2） the changing rate of wire feeding speed is within ± 3. 5%,which meets the national standard well.