Welding Penetration Monitoring for Ship Robotic GMAW Using Arc Sound Sensing Based on Improved Wavelet Denoising

Abstract

The arc sound signal is one of the most important aspects of information related to pattern identification regarding the penetration state of ship robotic GMAW; however, arc sound is inevitably affected by noise interference during the signal acquisition process. In this paper, an improved wavelet threshold denoising method is proposed to eliminate interference and purify the arc sound signal. The non-stationary random distribution characteristics of GMAW noise interference are also estimated by using the high-frequency detail coefficients in different domains after wavelet transformation, and a mode of measuring scale that is logarithmically negatively correlated with the wavelet decomposition scale is created to update the threshold. The gradient convergent threshold function is established using the natural logarithmic function structure and concave–convex gradient to enable the nonlinear adjustment of the asymptotic rate. Further, some property theorems related to the optimized threshold function are proposed and theoretically proven, and the effectiveness and adaptability of the improved method are verified via the denoising simulation of speech synthesis signals. The four traditional denoising methods and our improved version are applied in the pretreatment of the GMAW arc sound signal, respectively. Statistical analysis and short-time Fourier transform are used to extract eight-dimensional time and frequency domain feature parameters from the denoised signals with randomly time-varying characteristics, and the extracted joint feature parameters are used to establish a nonlinear mapping model of penetration state identification for ship robotic GMAW using the pattern classifiers of RBFNN, PNN and PSO-SVM. The simulation results yielded by visual penetration classification and the multi-dimensional evaluation index of the confusion matrix indicate that the improved denoising method proposed in this paper achieves a higher accuracy in the extraction of penetration state features and greater precision in the identification of pattern classification.