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针对脉冲ＧＴＡＷ焊熔池动态过程，利用面积法、Ｌａｐｌａｃｅ变换的极限定理法及最小二乘法对焊接速度与熔池背面熔宽模型进行了辩识。结果表明，面积法更适用于熔池动态过程辩识；对辨识所得到的二阶熔池模型进行了 ＰＩＤ控制器设计，并针对起焊时的时滞采用 Ｓｍｉｔｈ预估器予以补偿。实验结果表明，Ｓｍｉｔｈ预估器对时滞具有很好的补偿效果。
Aiming at the dynamic process of pulse GTAW welding pool, the area velocity method, the limit theorem of Laplace transform method and the least squares method were used to identify the welding speed and the melt width model of the molten pool back. The results show that the area method is more suitable for the identification of the dynamic process of the molten pool. The PID controller is designed for the second-order molten pool model. The Smith predictor is used to compensate the time lag during the welding. Experimental results show that the Smith predictor has a good compensation effect on the delay.