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介绍了一种非接触超声传感焊缝跟踪系统。该焊缝跟踪系统采用了Ｆｕｚｚｙ—Ｐ控制理论，即在大偏差时采用比例控制，在小偏差时采用自调整模糊控制。研究了Ｆｕｚｚｙ－Ｐ控制的阈值和比例控制的规则。介绍了自调整模糊控制的原理，提出了焊缝跟踪中的双因数自调整模糊控制方法。在试验的基础上确定了双因数的数值。应用公式法生成了模糊控制规则表。同时分析了自调整模糊控制中的比例系数对系统动态特性的影响。通过试验确定了该系统中的比例系数的数值。试验证明，该跟踪系统具有快速、准确、稳定的特点，完全能够满足实际工程应用的需要。
A non-contact ultrasonic welding seam tracking system is introduced. The weld tracking system uses Fuzzy-P control theory, that is, the use of proportional control in the case of large deviations, and the use of self-adjusting fuzzy control in small deviations. The rules of Fuzzy-P control threshold and proportional control are studied. The principle of self-adjusting fuzzy control is introduced and a two-factor self-adjusting fuzzy control method in weld tracking is proposed. On the basis of the experiment to determine the value of the double factor. Application of the formula method to generate fuzzy control rules table. At the same time, the influence of proportional coefficient in self-adjusting fuzzy control on the dynamic characteristics of the system is analyzed. Through the experiment to determine the value of the system scale coefficient. Experiments show that the tracking system has the characteristics of fast, accurate and stable, which can fully meet the needs of practical engineering applications.