Supervisory level control of robot plasma spray coating process with task level modification based on process database

This paper focuses on implementing supervisory level control of robot plasma spraying on internal surface of a free-form tubular shape found in gas turbine engine parts. Plasma spray process is used for applying Thermal Barrier Coating (TBC) onto a surface of gas turbine parts to provide layer of anti-corrosion and heat resistance made out of ceramic material built up during plasma spray deposition. At the core of the supervisory control lie three important components. First is the planning level. Second is the Task Level and third is the Process level implementation. In the scope of this paper, we will describe this supervisory level control structure and provide focus on the Torch Speed Modification in Task Level Implementation.