Development of seam tracking device in asynchronous tandem welding with arc sensing

Tandem welding is extensively used for welding large structures, such as ships and plants, for increased welding speed and volume. Seam tracking is essential because of a large amount of thermal deformation. However, in tandem welding, arc interference causes current and voltage to vary non-uniformly, leading to difficulties in seam tracking. Therefore, in this study, an optimal signal was identified for seam tracking in tandem welding and evaluated. To select the seam-tracking signal, an algorithm was developed that separates the welding signal into peak, average, and base. Based on the collected data, regression and signal-to-noise ratio analyses were performed to identify a suitable seam-tracking signal. To trace the welding line based on the selected signal, the welding signal was checked by weaving on the V-groove specimen. As a result, the current area difference of the welding signal generated between the left and right parts of the center of the V-groove could be calculated. An algorithm and equipment for seam tracking were constructed using the area difference of the welding current. Finally, the seam tracking system was verified by conducting an actual test using the equipment to which the algorithm was applied.