Research on adaptive torch height tracking technology for overlay welding on inner walls of containers

The torch tracking height is a critical technology for the automated cladding repair of the inner wall of vertical containers. Addressing the issue of real-time tracking difficulty of the torch height during the cladding process, a model reference adaptive control (MRAC) torch height tracking controller based on an integral term was designed. The integral term enhances the controller’s ability to resist tracking current interference. An infinite impulse response (IIR) filter was used to filter the collected cladding current. A mathematical model of the relationship between torch height and welding current was established to calculate the torch height deviation. The integral term MRAC controller was then used to correct the torch height deviation. Experimental results show that the maximum tracking error using the integral term MRAC control method is within ±0.34 mm, meeting the welding quality control requirements for the automated cladding of the inner wall of containers.