基于动态收敛长度模型的异形结构芯模编织控制策略  

Braiding Control Strategy of Special-Shaped Structure Mandrel Based on Dynamic Convergence Length Model

作　　者：李克 李麒阳 郗欣甫 孙以泽[1] LI Ke;LI Qiyang;CHI Xinfu;SUN Yize(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11期88-93,101,共7页Aeronautical Manufacturing Technology

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

摘　　要：近年来,复合材料广泛地代替金属材料应用在复杂结构件上。在异形结构预成型体的编织过程中,针对芯模半径连续变化导致编织角不稳定等问题,本文提出一种机器人牵引速度的控制方法。首先对异形结构芯模进行离散化处理得到每段的半径,然后对机器人的牵引速度进行优化计算,通过计算得到的牵引速度对编织角进行调整同时得出推进距离与实际编织长度的关系。最后通过机器人二次推进对编织长度进行补偿,并基于动态收敛长度进行下一段芯模的编织。试验结果证明,该控制方法能有效降低异形结构芯模的编织角误差并维持在±3°以内,对实际生产中编织角的严格把控以及任意曲率芯模的编织具有重大意义。In recent years,composite materials have been widely used in complex structural parts instead of metal materials.Aiming at the problem of unstable braiding angle caused by the mandrel when radius of the mandrel changes in the braiding process of special-shaped preforms,this paper proposes a control method for the take-up speed of the robot.Firstly,the special-shaped structure mandrel is discretized to obtain the radius of each segment,and then optimize the take-up speed of the robot,so that the adjustment of the braiding angle can be realized and the relationship between the advancing distance and the actual braiding length can be got.Finally,the braiding length is compensated by the second advance of the robot,and the next segment of the mandrel is braided based on the dynamic convergence length.The experimental results show that the control method can effectively reduce the braiding angle error of the special-shaped structure mandrel and keep it within±3°,which is of great significance for the strict control of the braiding angle in actual production and the braiding of mandrels with arbitrary curvature.

关 键 词：复合材料 异形结构芯模 编织角 离散化 牵引速度 

分 类 号：V26[航空宇航科学与技术—航空宇航制造工程] V46