Welding seam tracking error predictive lead compensation control method and device

The invention provides a weld seam tracking error predictive lead compensation control method and device, and the method comprises the steps: constructing a weld seam tracking predictive lead compensation control architecture system based on digital twinning in combination with the actual working condition of welding production; designing basic logic and steps of predictive lead compensation control of the welding seam tracking error; the welding seam tracking error is measured in real time and is communicated to the industrial personal computer in real time through a digital twin architecture system, and a welding seam tracking error data set is generated and updated in real time; accurate prediction of the welding seam tracking error is realized through the prediction model, and the prediction precision of the selected prediction model is measured by using a multi-dimensional evaluation index; determining a judgment standard and opportunity for starting the welding seam tracking predictive lead compensation