The aim of this work was to develop an integration concept for using off-line programming in robotic gas metal arc welding of thin sheet steel. Off line-welding parameter optimization and on-line monitoring and adaptive control of process stability and torch-to-workpiece relative distance were used to ensure weld consistency. The concept developed included four main aspects: a) the use of a CAD system to design the workpiece; b) the use of a welding off-line programming system to design the welds, generate the welding parameters and to extract geometrical information from the CAD models to generate a robot program; c) the use of a graphical simulation system to simulate the robot movements; and d) the use of monitoring and adaptive control for ensuring that the required weld quality is delivered. The CAD system was chosen to be the basis for the development of the welding off-line programming system. The generation of optimized welding parameters was based on empirical welding models and the robot program generation was based on on-line programming experience. A PC based monitoring and control system was developed to provide on-line position and process control. The position control was carried out by pre-weld adjusting the initial position of the workpiece using a wire touch sensor and on-line adjusting the torch-to-workpiece distance by moving the workpiece based on the information provided by a through-the-arc sensor. The process control was carried out by automatically trimming the welding voltage such that the most stable process could be obtained. The stability of the process was estimated by using previously established monitoring indices. It was assumed that the off-line welding parameter optimization would provide the deposition rate necessary to produce the required weld quality. Successful welding control trials were performed showing the effectiveness of the adaptive control strategy. An off-line programming system has been developed and the programs generated have been tested by simulation. This showed that simulated positioning errors, produced by deliberate wrong path data, were successfully compensated for by the control system developed in this work.

Shape (or flatness) control for rolled steel strip is becoming increasingly important as customer requirements become more stringent. Automatic shape control is now more or less mandatory on all new four-high cold mills, but no comprehensive scheme yet exists on a Sendzimir mill. This is due to the complexity of the control system design on such a mill, where many more degrees of freedom for control exist than is the case with the four-high mills. The objective of the current work is to develop, from first principles, such a system; including automatic control of the As-U-Roll and first intermediate roll actuators in response to the measured strip shape. This thesis concerns itself primarily with the As-U-Roll control system. The material presented is extremely wide-ranging. Areas covered include the development of original static and dynamic mathematical models of the mill systems, and testing of the plant by data-logging to tune these models. A basic control system philosophy proposed by other workers is modified and developed to suit the practical system requirements and the data provided by the models. The control strategy is tested by comprehensive multivariable simulation studies. Finally, details are given of the practical problems faced when installing the system on the plant. These include problems of manual control inter-action bumpless transfer and integral desaturation. At the time of presentation of the thesis, system commissioning is still in progress and production results are therefore not yet available. Nevertheless, the simulation studies predict a successful outcome, although performance is expected to be limited until the first intermediate roll actuators are eventually included in the scheme also.

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This thesis consists of two parts. The development of a self-adaptive stochastic control system for dynamically positioned vessels is described in Part One. Part Two is the investigation and the development of self-tuning control techniques. In Part One, the dynamic ship positioning control problems and basic components are described. The modelling techniques of low frequency ship motions and wave motions are given. The various Kalman filtering methods are appraised. An optimal state feedback control with integral action for the ship positioning system is proposed, followed by the simplification of the complex control structure to allow easy implementation. A self-tuning Kalman filter is proposed for systems which have low frequency outputs corrupted by high frequency disturbances. This filter is used in the ship positioning system. Simulation results of scalar, multivariable and non-linear cases are given. Part Two begins with the development of an adaptive tracking technique for slowly varying processes with coloured noise disturbances. Estimated results for various wave signals are given. The self-tuning control techniques are overviewed, followed by the development of an explicit multivariable weighted minimum variance controller. Simulation results including the estimation of system time delay are given. Finally, an implicit weighted minimum variance controller for single input-single output system is developed.

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