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对焊缝自动跟踪微机系统中的数字控制器进行了分析研究。在焊缝自动跟踪系统中，除了电弧传感器之外，大部分的传感器都有检测点超前于焊接点的情况。本文针对这种有普遍意义的传感器超前检测的自动控制系统结构特点，分别设计了最少拍数字控制器、数字ＰＩＤ控制器以及一种实用型的数字控制器。这些数字控制器的仿真试验结果表明，本文提出的实用型数字控制器具有跟踪结构精度高（跟踪误差＜０．５ｍｍ），结构简单、计算方便（微机控制系统闭环传递函数＝１）等优点，因而是这类传感器超前检测式微机跟踪系统的比较合理的数字控制器。
The digital controller in automatic tracking of welding seam is analyzed and researched. In the weld automatic tracking system, in addition to the arc sensor, most of the sensors have a detection point ahead of the welding point. In this paper, aiming at the structural characteristics of this kind of automatic control system with advanced detection of sensors, we design the least shot digital controller, digital PID controller and a practical digital controller respectively. The simulation results of these digital controllers show that the practical digital controller proposed in this paper has the advantages of high tracking structure accuracy (tracking error <0.5mm), simple structure and convenient calculation (closed-loop transfer function of microcomputer control system = 1) Therefore, this type of sensor advanced detection microcomputer tracking system more reasonable digital controller.