基于偏移补偿模型的大曲率复杂芯模编织牵引轨迹优化控制方法  

Optimal Control Method of Large Curvature Complex Mandrel Weaving Traction Trajectory Based on Offset Compensation Model

作　　者：陈浩[1] 刘月刚 李麒阳 郗欣甫 陈冰冰[1] CHEN Hao;LIU Yuegang;LI Qiyang;CHI Xinfu;CHEN Bingbing(Donghua University,Shanghai 201620,China)

机构地区：[1]东华大学,上海201620

出　　处：《航空制造技术》2024年第8期85-91,109,共8页Aeronautical Manufacturing Technology

基　　金：国家发改委重大技术装备攻关项目(2021-1635-05);江苏省重点研发计划项目(BE2023070)。

摘　　要：针对大曲率复杂芯模编织过程中机器人示教困难、织物编织角不稳定等问题,提出一种基于偏移补偿模型的编织牵引轨迹优化控制方法。首先基于不稳定编织阶段收敛距离的变换,建立预成型编织点预测模型;其次对芯模进行离散化处理,调整每一段离散芯模的轴线垂直通过动态编织点平面,修正每段芯模编织进给长度,利用芯模变截面过程的不稳定编织阶段进行芯模姿态调整,同时调整不稳定阶段牵引速度以更快达到稳定编织状态。试验结果表明,该轨迹优化方法能有效避免大曲率复杂芯模预成型体的纱线堆积和编织角波动范围大的问题,能够提高预成型体编织质量。Aiming at the instability of the weaving angle of the fabric during the weaving process of the mandrel with large curvature and complex,proposed an optimal control method of weaving traction trajectory based on offset compensation model.Firstly,based on the convergent distance transformation of the unstable braiding stage,the prediction model of preformed braiding points is established.Secondly,the mandrel is discretized,the axis of each discrete mandrel is adjusted vertically through the dynamic braiding point plane,and the braiding feed length of each mandrel is corrected.The mandrel attitude is adjusted by using the unstable braiding stage in the process of changing cross-section of the mandrel,and the traction speed in the unstable stage is adjusted to reach the stable braiding state faster.The experimental results show that the trajectory optimization method can improve the preform weaving quality.

关 键 词：编织机 牵引轨迹 离散化 编织点平面 牵引速度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]