Robotic gas tungsten arc (GTA)-based additive manufacturing (AM) is a promising technique to produce high-quality and large-scale metal parts with low cost. Despite this fact, the key issue of ensuring deposition height stability has not been fully solved. In this study, an arc voltage sensing and control approach with little delay is proposed to increase the forming height stability in GTA-based AM. The deposition height stability is indirectly characterized by arc voltage signals sampled using a designed arc voltage detection system. A novel de-noising method, combining the anti-impulse interference moving average with the wavelet packet transform, is proposed to filter out interferences in the original arc voltage. A Fuzzy-PID controller is developed to control the arc voltage by adjusting the wire feed speed on next deposition layer. Constant parameter and closed-loop control experiments are compared via fabricating thin-walled parts. The more stable arc voltage and more excellent forming appearance in the closed-loop control test indicate that applying the arc voltage sensing and control system can greatly improve the forming height stability in robotic GTA-based AM.

基于机器人钨极电弧（GTA）的增材制造（AM）是一种以低成本生产高质量，大规模金属零件的有前途的技术。尽管如此，确保沉积高度稳定性的关键问题尚未完全解决。在这项研究中，提出了一种弧延迟的电弧电压传感和控制方法，以提高基于GTA的AM的成形高度稳定性。沉积高度稳定性通过使用设计的电弧电压检测系统采样的电弧电压信号间接表征。提出了一种将反脉冲干扰移动平均值与小波包变换相结合的新型降噪方法，以滤除原始电弧电压中的干扰。开发了Fuzzy-PID控制器，通过调节下一个沉积层的送丝速度来控制电弧电压。通过制造薄壁零件比较了恒定参数和闭环控制实验。闭环控制测试中更稳定的电弧电压和更出色的成型外观表明，应用电弧电压传感和控制系统可以大大提高基于机器人GTA的AM的成型高度稳定性。