Method and system for controlling the path of movement of a workpiece socket head of an orbital motion welding system
First Claim
1. In a method for controlling a path of movement of a workpiece socket head of an orbital vibratory welding system for friction welding of workpieces including said head receiving a workpiece, resilient means to which the head is mounted, electromechanic actuating means for driving said head so as to be subjected to orbital vibrations in an orbital plane, and a frequency converter for driving said electromechanic actuating means by feeding an oscillating voltage to said electromagnetic actuating means, said oscillating voltage having a voltage space vector which moves along a locus in a voltage space, said oscillating voltage being controlled such that said locus of said voltage space vector causes said head to move along an elliptical path.
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Abstract
A method and a system for controlling the path of movement of an orbital motion welding system are provided. The locus path of a voltage space vector of a frequency converter feeding the electromechanical system is adjusted by an oscillation amplitude controller with respect to amplitude by using a path controller working in a rotating coordinate system, and a voltage generator. The adjustment is done with respect to the spectro-composition (relative amplitude and phase of the harmonic oscillations) so that the resulting path of movement equals the desired path of movement. The paths of movement obtainable with the invention include all kinds of ellipses including circular and linear paths of movement along one axis as extremes.
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15 Claims
- 1. In a method for controlling a path of movement of a workpiece socket head of an orbital vibratory welding system for friction welding of workpieces including said head receiving a workpiece, resilient means to which the head is mounted, electromechanic actuating means for driving said head so as to be subjected to orbital vibrations in an orbital plane, and a frequency converter for driving said electromechanic actuating means by feeding an oscillating voltage to said electromagnetic actuating means, said oscillating voltage having a voltage space vector which moves along a locus in a voltage space, said oscillating voltage being controlled such that said locus of said voltage space vector causes said head to move along an elliptical path.
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12. In an orbital vibrating welding system including a welding head receiving a workpiece, resilient means to which the head is mounted and electromechanic actuating means including current windings for driving said head into orbital vibrations,
set vector generating means (1) for generating a set vector of movement according to a desired path of movement of said head, phase calculating means (2) receiving said set vector for calculating a phase, measuring means for measuring an actual vector of movement, comparing means (3) for comparing said actual and set vectors of movement by subtraction of said measured actual vector from said set vector to determine the deviation of said actual path of movement from said desired path of movement, transforming means (4) to transform said deviation into a transformed deviation in rotating coordinates used by a twodimensional path controlling means (5) to compute a complex modulation factor m from said transformed deviation and to control said deviation to become zero, comparing means (6) to compare a maximum vertex value of said set vector with a maximum vertex value of said actual vector and to generate a comparing means output value, oscillation amplitude controlling means (7) receiving said comparing means output value to define a regulated amplitude such that said comparing means output value becomes zero, voltage generating means (8) to generate a regulated voltage space vector from said regulated amplitude of said voltage and said modulation factor m, a power supply (17) for said electromechanic actuating means to supply said current windings of said eletromechanic actuating means with the electrical power necessary to drive said head and frequency converting means providing an output voltage to said current windings of said electromechanic actuating means and having its input coupled to said power supply wherein said output voltage of said frequency converting means is controlled by said power supply so that said output voltage equals said regulated voltage space vector as desired.
Specification