%0 Journal Article
%T Application of Kalman filter with colored noises to the experiment of seam tracking<br>色噪声下卡尔曼滤波焊缝跟踪算法与试验研究
%A GAO Xiang-dong
%A ZHONG Xun-gao
%A YOU De-yong
%A KATAYAMA Seiji
%A <br>高向东
%A 仲训杲
%A 游德勇
%A KATAYAMA Seiji
%J 控制理论与应用
%D 2011
%I 
%X Accurately controlling the laser beam to follow the welding path is the prerequisite for successful laser welding quality. During laser butt-joint welding of Type 304 austenitic stainless steel plate with a high power continuous wave fiber laser, an approach is investigated to estimate the seam offset between the laser beam and the weld by using the Kalman filter(KF) optimal state estimation in the presence of colored noises. An infrared sensitive high-speed video camera is used to capture the dynamic images of molten pools. The weld position parameters from a molten pool thermal image are extracted as a state eigenvector which includes the current weld position, the variation of weld position and the weld position at previous sampling time. The state-equation based on the weld position parameters, and the measurementequation for the weld position are established. Considering that the system dynamic noises were colored noises, we develop a KF with colored noises by augmenting the state variables. Therefore, the optimal prediction of the seam offset can be obtained through the optimal state estimation of weld position under the least squares condition. Also, this KF is applied to reduce the error of weld position detection caused by the dynamic noise and the measurement noise; thus, the seam offset between the laser beam and the weld is estimated accurately. Actual welding experiments demonstrate that the seam tracking accuracy can be promoted and the disturbance influence from the colored noises can be reduced by using the Kalman filter with variable augmentation.
%K seam tracking
%K colored noises
%K Kalman filter
%K high-power fiber laser welding<br>焊缝跟踪
%K 色噪声
%K 卡尔曼滤波
%K 大功率光纤激光焊
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=53D1930C2BB9CC71E4342D94B36AC7A9&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=DF92D298D3FF1E6E&sid=90EAFEE49150CFCD&eid=073C3CF5F13F64FE&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=8