Adaptive interval model control of weld pool surface in pulsed gas metal arc welding

Zhijiang Wang, Yuming Zhang, Lin Wu

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


A skilled welder may produce quality welds with a desired weld penetration depth based on his/her observation on weld pool surface. In a recent study the authors found that the arc voltage change during the peak current period in pulsed gas metal arc welding is a relevant measurement of the weld pool surface that can estimate the penetration depth. A system is thus developed to measure the arc voltage and control its change as output using the base current period as input and the necessity to use relatively complex sensors such as imaging systems is avoided. Analysis shows that the resultant process being controlled is time-varying, noisy, and nonlinear. After simplification into a linear system, an adaptive interval model control system has been designed. Experimental results confirmed the effectiveness of the adaptive interval model control algorithm and the developed control system.

Original languageEnglish
Pages (from-to)233-238
Number of pages6
Issue number1
StatePublished - Jan 2012

Bibliographical note

Funding Information:
This work is funded by the National Science Foundation (Arlington, VA, USA) under grant CMMI-0726123 entitled “Measurement and Control of Dynamic Weld Pool Surface in Gas Metal Arc Welding”. This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor Pedro Albertos under the direction of Editor Toshiharu Sugie.


  • Arc voltage
  • GMAW
  • GMAW-P
  • Interval model control
  • Penetration depth
  • Predictive control
  • Weld penetration
  • Weld pool surface

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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