CN114488814A - High-precision laying tension control method for eliminating gravity disturbance - Google Patents

High-precision laying tension control method for eliminating gravity disturbance Download PDF

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Publication number
CN114488814A
CN114488814A CN202210096823.3A CN202210096823A CN114488814A CN 114488814 A CN114488814 A CN 114488814A CN 202210096823 A CN202210096823 A CN 202210096823A CN 114488814 A CN114488814 A CN 114488814A
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axis
roller
spring
gravity
spring roller
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CN114488814B (en
Inventor
张盛桂
高诚
马志涛
张喻琳
李佳益
冯长征
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AVIC Beijing Aeronautical Manufacturing Technology Research Institute
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AVIC Beijing Aeronautical Manufacturing Technology Research Institute
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H49/00—Unwinding or paying-out filamentary material; Supporting, storing or transporting packages from which filamentary material is to be withdrawn or paid-out
    • B65H49/18—Methods or apparatus in which packages rotate
    • B65H49/20—Package-supporting devices
    • B65H49/30—Swifts or skein holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/10—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by devices acting on running material and not associated with supply or take-up devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material

Abstract

The invention relates to a high-precision laying tension control method for eliminating gravity disturbance, which comprises the following steps: detecting the position deviation amount of the spring roller, calculating an adjustment amount according to the position deviation amount, and adjusting the rotating speed of the discharging roller and the lining paper recovery roller according to the adjustment amount so as to realize the tension adjustment of the tows laid on the die by the pressing roller; acquiring initial installation positions of the eight spring rollers in the integrated fiber spreading head; when the integrated wire laying head is arranged on six-axis equipment with the structure of XYZABC, acquiring coordinate data of an A axis, a B axis and a C axis in real time; when the integrated wire laying head is installed on a six-axis device with an XYZC1AC2 structure, the coordinate data of a C1 axis, an A axis and a C2 axis are collected in real time, supplementary data are obtained through calculation according to the gravity data and the disturbance quantity mathematical model of the eight spring rollers, and then gravity disturbance quantity compensation adjustment is completed according to the supplementary data. The invention is applied to the technical field of aviation.

Description

High-precision laying tension control method for eliminating gravity disturbance
Technical Field
The invention relates to the technical field of aviation, in particular to a high-precision laying tension control method for eliminating gravity disturbance.
Background
In the development and production of aerospace aircrafts represented by airplanes, an automatic filament laying technology is widely applied to composite material structures, is the most important advanced composite material automatic forming and manufacturing technology at present, is a key technology for realizing the manufacturing of large-size complex special-shaped composite material structures, and is a necessary manufacturing technology basis for the automation of composite material forming and manufacturing, the digitization of process equipment and the intellectualization of product production.
The silk spreading equipment mainly comprises a silk spreading head, a silk storage mechanism and a silk spreading main body structure, wherein the silk spreading head is a core functional component for realizing the laying and forming of complex components, and in order to meet application requirements, different development concepts are adopted by various silk spreading equipment suppliers to develop the silk spreading head with various structural forms. The common filament paving head structure form is split type and integrated type, the split type filament paving head mainly means that storage, conveying and laying mechanisms of filament bundles are split, and the integrated filament paving head means that storage, conveying and laying of the filament bundles are integrated.
In order to inhibit the adverse effect of the fluctuation of the laying speed on the control of the laying tension of the tows, a floating spring roller is added in a tension control system integrated with a tow laying head. However, the spring roller can introduce the gravity disturbance amount of the spring roller under different laying postures, the influence of the gravity disturbance amount converted into the tension is +/-2N, the magnitude of the gravity disturbance amount cannot be ignored, and the accurate control of the tension in the laying process can be influenced.
Disclosure of Invention
(1) Technical problem to be solved
The embodiment of the invention provides a high-precision laying tension control method for eliminating gravity disturbance, and solves the technical problem of low tension control precision in a laying process.
(2) Technical scheme
In order to solve the technical problem, an embodiment of the present invention provides a high-precision laying tension control method for eliminating gravity disturbance, including:
detecting the position deviation amount of the spring roller, calculating an adjustment amount according to the position deviation amount, and adjusting the rotating speed of the discharging roller and the lining paper recovery roller according to the adjustment amount so as to realize the tension adjustment of the tows laid on the die by the pressing roller; acquiring initial installation positions of the eight spring rollers in the integrated fiber spreading head;
when the integrated wire laying head is installed on six-axis equipment with an XYZABC structure, acquiring coordinate data of an A axis, a B axis and a C axis in real time, calculating according to gravity data and a disturbance mathematical model of the eight spring rollers to obtain supplementary data, and then completing gravity disturbance compensation adjustment according to the supplementary data;
when the integrated wire laying head is installed on six-axis equipment with an XYZC1AC2 structure, coordinate data of an A axis, a C1 axis and a C2 axis are collected in real time, supplementary data are obtained through calculation according to gravity data and a disturbance quantity mathematical model of the eight spring rollers, and then gravity disturbance quantity compensation adjustment is completed according to the supplementary data.
Optionally, acquiring initial installation positions of the eight spring rollers in the integrated fiber placement head, wherein position vectors of the first spring roller and the second spring roller are as follows:
Figure BDA0003491150020000021
the position vectors of the third spring roller and the fourth spring roller are as follows:
Figure BDA0003491150020000022
the position vectors of the spring roller No. five and the spring roller No. six are as follows:
Figure BDA0003491150020000023
the position vectors of the No. seven spring roller and the No. eight spring roller are as follows:
Figure BDA0003491150020000024
optionally, when the integrated filament paving head is mounted on a six-axis apparatus with the structure of XYZABC, the motion control command of the six-axis apparatus is X _ Y _ Z _ a _ B _ C, and the attitude of the end effector of the six-axis apparatus is:
Figure BDA0003491150020000025
wherein R isZ,CIndicating rotation by an angle C, R about the Z axisY,BIndicating rotation by an angle B, R about the Y axisX,AIndicating a rotation about the X-axis by an angle a,
Figure BDA0003491150020000026
the vector represents the attitude of the end effector and can be calculated according to the homogeneous transformation of the rotation matrix
Figure BDA0003491150020000027
The vectors are:
Figure BDA0003491150020000028
assuming that the spring roller has a weight MtThe vector matrix of the six-axis device is:
Figure BDA0003491150020000031
according to
Figure BDA0003491150020000032
And
Figure BDA0003491150020000033
obtaining a compensation quantity:
Figure BDA0003491150020000034
according to
Figure BDA0003491150020000035
And
Figure BDA0003491150020000036
obtaining a compensation quantity:
Figure BDA0003491150020000037
according to
Figure BDA0003491150020000038
And
Figure BDA0003491150020000039
obtaining a compensation quantity:
Figure BDA00034911500200000310
according to
Figure BDA00034911500200000311
And
Figure BDA00034911500200000312
obtaining a compensation quantity:
Figure BDA0003491150020000041
optionally, when the integrated wirelaying head is mounted on a six-axis apparatus of structure XYZC1AC2, the motion control commands of the six-axis apparatus are X _ Y _ Z _ a _ C1_ C2, and the attitude of the end effector of the six-axis apparatus is:
Figure BDA0003491150020000042
wherein R isZ,C1Indicating rotation about the Z axis by an angle C1, RX,AIndicating rotation about the X axis by an angle A, RZ,C2Indicating a rotation about the Z axis by an angle C2,
Figure BDA0003491150020000043
the vector represents the attitude of the integrated wire laying head of the six-axis equipment, and the attitude can be calculated according to the homogeneous transformation of the rotation matrix
Figure BDA0003491150020000044
The vectors are:
Figure BDA0003491150020000045
assuming that the spring roller has a weight MtThe vector matrix of the six-axis device is:
Figure BDA0003491150020000046
according to
Figure BDA0003491150020000047
And
Figure BDA0003491150020000048
obtaining a compensation quantity:
Figure BDA0003491150020000049
according to
Figure BDA00034911500200000410
And
Figure BDA00034911500200000411
obtaining a compensation quantity:
Figure BDA0003491150020000051
according to
Figure BDA0003491150020000052
And
Figure BDA0003491150020000053
obtaining a compensation quantity:
Figure BDA0003491150020000054
according to
Figure BDA0003491150020000055
And
Figure BDA0003491150020000056
obtaining a compensation quantity:
Figure BDA0003491150020000057
optionally, the six-axis apparatus is a six-axis horizontal machine tool or a six-axis vertical machine tool or a six-axis robot.
Optionally, the compensation amount is sent to a tension controller, and the tension controller is used for realizing real-time compensation of the gravity disturbance amount of the spring roller.
Alternatively, the positional deviation amount of the spring roller is detected by a tension detecting mechanism.
(3) Advantageous effects
In conclusion, the invention obtains the real-time posture of the integrated wire laying head, and performs synthetic calculation on the gravity vector of the spring roller and the laying vector, thereby obtaining the real-time gravity disturbance quantity, and then compensates the gravity disturbance quantity to eliminate the disturbance of gravity and realize the control of high-precision laying tension.
The invention establishes a mathematical model of the gravity disturbance of the spring roller of the integrated wire laying head under different laying postures based on the multi-body system kinematics theory, obtains the gravity disturbance quantity of the spring roller through calculation and analysis, compensates the gravity disturbance quantity in real time, provides a theoretical basis for the lifting of high-precision laying tension control, realizes the accurate control of tension in the laying process through the real-time compensation of a numerical control system, and has very important effect on the field of automatic laying and forming of composite materials.
Aiming at the structure of the integrated filament paving head, the invention fully considers the influence factor of the gravity disturbance of the spring roller for controlling the filament paving tension, establishes a mathematical model of the gravity disturbance quantity of the spring roller of the integrated filament paving head under different paving postures, and can be evolved into vertical, horizontal, robot type and other types of automatic filament paving equipment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a tension control system according to an embodiment of the present invention;
fig. 2 is a schematic layout of eight sets of tension control systems on an integrated fiber placement head in accordance with an embodiment of the present invention.
FIG. 3 is a schematic view of an integrated laying head of an embodiment of the present invention applied to a six-axis apparatus constructed in the structure XYZABC, wherein the spring roller gravity disturbance is affected by a change in the angle of A, B, C;
FIG. 4 is a schematic diagram of an integrated laying head applied to a six-axis apparatus having a six-axis configuration XYZC1AC2 according to an embodiment of the present invention, wherein the spring roller gravity disturbance is affected by a change in the angle A, C1 and C2;
FIG. 5 is a flow chart of a high-precision laying tension control method for eliminating gravity disturbance according to an embodiment of the invention.
In the figure:
1. the device comprises a material placing roller 2, a lining paper recovery roller 3, a spring roller 4, a laying compression roller 5 and a die.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 to 5, a high-precision laying tension control method for eliminating gravity disturbance includes:
detecting the position deviation amount of the spring roller 3, calculating an adjustment amount according to the position deviation amount, and adjusting the rotating speed of the emptying roller 1 and the lining paper recovery roller 2 according to the adjustment amount to realize the adjustment of the tension of the tows laid on the die 5 by the laying compression roller 4; acquiring initial mounting positions of the eight spring rollers 3 in the integrated fiber spreading head;
when the integrated wire laying head is installed on six-axis equipment with an XYZABC structure, acquiring coordinate data of an A axis, a B axis and a C axis in real time, calculating according to gravity data and a disturbance mathematical model of the eight spring rollers 3 to obtain supplementary data, and then completing gravity disturbance compensation adjustment according to the supplementary data;
when the integrated wire laying head is installed on six-axis equipment with an XYZABC structure, coordinate data of an axis A, an axis C1 and an axis C2 are collected in real time, supplementary data are obtained through calculation according to the gravity data of the eight spring rollers 3 and a disturbance amount mathematical model, and then gravity disturbance amount compensation adjustment is completed according to the supplementary data.
In the embodiment, the gravity vector of the spring roller 3 and the laying vector are subjected to synthetic calculation by acquiring the real-time posture of the integrated wire laying head, so that the real-time gravity disturbance amount is obtained, and then the gravity disturbance amount is compensated to eliminate the disturbance of gravity, so that the control of high-precision laying tension is realized.
The embodiment is based on a multi-body system kinematics theory, a mathematical model of the gravity disturbance of the spring roller 3 under different laying postures of the integrated wire laying head is established, the gravity disturbance of the spring roller 3 is obtained through calculation and analysis, the gravity disturbance is compensated in real time, a theoretical basis is provided for the lifting of high-precision laying tension control, the accurate control of tension in the laying process is realized through the real-time compensation of a numerical control system, and the method plays an important role in the field of automatic laying and forming of composite materials.
Aiming at the structure of the integrated filament paving head, the embodiment sufficiently considers the influence factor of the gravity disturbance of the spring roller 3 for controlling the filament paving tension, and establishes a mathematical model of the gravity disturbance of the spring roller 3 of the integrated filament paving head in different paving postures, so that the integrated filament paving head can be evolved into vertical, horizontal, robot-type and other automatic filament paving equipment.
In one embodiment, eight initial installation positions of the spring rollers 3 in the integrated fiber placement head are obtained, wherein the position vectors of the spring roller 3I and the spring roller 3 II are as follows:
Figure BDA0003491150020000071
the position vectors of the third spring roller 3 and the fourth spring roller 3 are as follows:
Figure BDA0003491150020000072
the position vectors of the spring roller 3 of the fifth number and the spring roller 3 of the sixth number are as follows:
Figure BDA0003491150020000073
the position vectors of the seventh spring roller 3 and the eighth spring roller 3 are as follows:
Figure BDA0003491150020000074
in one embodiment, when the integrated filature head is mounted on a six-axis apparatus having the structure XYZABC, the motion control commands for the six-axis apparatus are X _ Y _ Z _ a _ B _ C, and the pose of the end effector of the six-axis apparatus is:
Figure BDA0003491150020000075
wherein R isZ,CIndicating rotation by an angle C, R about the Z axisY,BIndicating rotation by an angle B, R about the Y axisX,AIndicating a rotation about the X-axis by an angle a,
Figure BDA0003491150020000076
the vector represents the attitude of the end effector, and the linear motion of XYZ does not influence the attitude of the integrated wire laying head, so that the motion value of XYZ is not considered, and the motion value can be calculated according to the homogeneous transformation of the rotation matrix
Figure BDA0003491150020000077
The vectors are:
Figure BDA0003491150020000081
assuming that the spring roller 3 has a weight MtThe vector matrix of the six-axis device is:
Figure BDA0003491150020000082
according to
Figure BDA0003491150020000083
And
Figure BDA0003491150020000084
obtaining a compensation quantity:
Figure BDA0003491150020000085
according to
Figure BDA0003491150020000086
And
Figure BDA0003491150020000087
obtaining a compensation quantity:
Figure BDA0003491150020000088
according to
Figure BDA0003491150020000091
And
Figure BDA0003491150020000092
obtaining a compensation quantity:
Figure BDA0003491150020000093
according to
Figure BDA0003491150020000094
And
Figure BDA0003491150020000095
obtaining a compensation quantity:
Figure BDA0003491150020000096
in one embodiment, when the integrated wirelaying head is mounted on a six-axis apparatus of structure XYZC1AC2, the motion control commands for the six-axis apparatus are X _ Y _ Z _ a _ C1_ C2, and the pose of the end effector of the six-axis apparatus is:
Figure BDA0003491150020000097
wherein R isZ,C1Indicating rotation about the Z axis by an angle C1, RX,AIndicating rotation about the X axis by an angle A, RZ,C2Indicating a rotation about the Z axis by an angle C2,
Figure BDA0003491150020000098
the vector represents the attitude of the integrated wire laying head of the six-axis equipment, and the linear motion of XYZ does not influence the attitude of the integrated wire laying head, so that the motion values of XYZ are not considered, and the vector can be calculated and obtained according to the homogeneous transformation of the rotation matrix
Figure BDA0003491150020000099
The vectors are:
Figure BDA00034911500200000910
assuming that the spring roller 3 has a weight MtThe vector matrix of the six-axis device is:
Figure BDA00034911500200000911
according to
Figure BDA00034911500200000912
And
Figure BDA00034911500200000913
obtaining a compensation quantity:
Figure BDA0003491150020000101
according to
Figure BDA0003491150020000102
And
Figure BDA0003491150020000103
obtaining a compensation quantity:
Figure BDA0003491150020000104
according to
Figure BDA0003491150020000105
And
Figure BDA0003491150020000106
obtaining a compensation quantity:
Figure BDA0003491150020000107
according to
Figure BDA0003491150020000108
And
Figure BDA0003491150020000109
obtaining a compensation quantity:
Figure BDA00034911500200001010
in one embodiment, the six-axis apparatus is a six-axis horizontal machine tool or a six-axis vertical machine tool or a six-axis robot.
In one embodiment, the compensation amount is sent to a tension controller, and the tension controller realizes real-time compensation of the gravity disturbance amount of the spring roller 3.
In one embodiment, the amount of positional deviation of the spring roller 3 is detected by a tension detection mechanism.
In the embodiment, according to the structure of the integrated yarn laying head, a mathematical model of the gravity disturbance amount of the spring roller 3 of the integrated yarn laying head in different laying postures is established, the mathematical model comprises calculation of the gravity disturbance amount of the spring roller 3 of 8 tows of the automatic integrated yarn laying head, and decomposition calculation of the gravity disturbance amount of the spring roller 3 is carried out along with the change of the posture of the automatic integrated yarn laying head. Secondly, by developing a real-time compensation program of a numerical control system, the gravity disturbance quantity of the spring roller 3 is compensated into a motion control parameter controlled by the tow tension in real time, so that the control precision of the tow laying tension is improved, and the accurate control of the tension in the laying process is realized.
The above description is only an example of the present application and is not limited to the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (7)

1. A high-precision laying tension control method for eliminating gravity disturbance is characterized by comprising the following steps:
detecting the position deviation amount of the spring roller, calculating an adjustment amount according to the position deviation amount, and adjusting the rotating speed of the discharging roller and the lining paper recovery roller according to the adjustment amount so as to realize the tension adjustment of the tows laid on the die by the pressing roller; acquiring initial installation positions of the eight spring rollers in the integrated fiber spreading head;
when the integrated wire laying head is installed on six-axis equipment with an XYZABC structure, acquiring coordinate data of an A axis, a B axis and a C axis in real time, calculating according to gravity data and a disturbance mathematical model of the eight spring rollers to obtain supplementary data, and then completing gravity disturbance compensation adjustment according to the supplementary data;
when the integrated wire laying head is installed on six-axis equipment with an XYZC1AC2 structure, coordinate data of an A axis, a C1 axis and a C2 axis are collected in real time, supplementary data are obtained through calculation according to gravity data and a disturbance quantity mathematical model of the eight spring rollers, and then gravity disturbance quantity compensation adjustment is completed according to the supplementary data.
2. A gravity disturbance elimination high-precision placement tension control method according to claim 1, wherein initial installation positions of eight spring rollers in an integrated fiber placement head are obtained, wherein position vectors of the spring roller I and the spring roller II are as follows:
Figure FDA0003491150010000011
the position vectors of the third spring roller and the fourth spring roller are as follows:
Figure FDA0003491150010000012
the position vectors of the spring roller No. five and the spring roller No. six are as follows:
Figure FDA0003491150010000013
the position vectors of the No. seven spring roller and the No. eight spring roller are as follows:
Figure FDA0003491150010000014
3. a gravity disturbance elimination high precision placement tension control method according to claim 2, wherein when the integrated filament placement head is mounted on a six-axis apparatus having the structure XYZABC, the motion control command of the six-axis apparatus is X _ Y _ Z _ a _ B _ C, and the attitude of the end effector of the six-axis apparatus is:
Figure FDA0003491150010000015
wherein R isZ,CIndicating rotation about the Z axis by an angle C, RY,BIndicating rotation by an angle B, R about the Y axisX,AIndicating a rotation about the X-axis by an angle a,
Figure FDA0003491150010000016
the vector represents the pose of the end effector in terms of rotationsThe homogeneous transformation of the rotation matrix can be calculated
Figure FDA0003491150010000017
The vectors are:
Figure FDA0003491150010000021
assuming that the spring roller has a weight MtThe vector matrix of the six-axis device is:
Figure FDA0003491150010000022
according to
Figure FDA0003491150010000023
And
Figure FDA0003491150010000024
obtaining a compensation quantity:
Figure FDA0003491150010000025
according to
Figure FDA0003491150010000026
And
Figure FDA0003491150010000027
obtaining a compensation quantity:
Figure FDA0003491150010000028
according to
Figure FDA0003491150010000031
And
Figure FDA0003491150010000032
obtaining a compensation quantity:
Figure FDA0003491150010000033
according to
Figure FDA0003491150010000034
And
Figure FDA0003491150010000035
obtaining a compensation quantity:
Figure FDA0003491150010000036
4. a gravity disturbance elimination high precision placement tension control method according to claim 2, wherein when the integrated wire laying head is mounted on a six-axis apparatus of structure XYZC1AC2, the motion control commands of the six-axis apparatus are X _ Y _ Z _ a _ C1_ C2, and the attitude of the end effector of the six-axis apparatus is:
Figure FDA0003491150010000037
wherein R isZ,C1Indicating rotation about the Z axis by an angle C1, RX,AIndicating rotation about the X axis by an angle A, RZ,C2Indicating a rotation about the Z axis by an angle C2,
Figure FDA0003491150010000038
the vector represents the attitude of the integrated wire laying head of the six-axis equipment, and the attitude can be calculated according to the homogeneous transformation of the rotation matrix
Figure FDA0003491150010000039
The vectors are:
Figure FDA00034911500100000310
assuming that the spring roller has a weight MtThe vector matrix of the six-axis device is:
Figure FDA00034911500100000311
according to
Figure FDA00034911500100000312
And
Figure FDA00034911500100000313
obtaining a compensation quantity:
Figure FDA0003491150010000041
according to
Figure FDA0003491150010000042
And
Figure FDA0003491150010000043
obtaining a compensation quantity:
Figure FDA0003491150010000044
according to
Figure FDA0003491150010000045
And
Figure FDA0003491150010000046
get the benefitCompensation amount:
Figure FDA0003491150010000047
according to
Figure FDA0003491150010000048
And
Figure FDA0003491150010000049
obtaining a compensation quantity:
Figure FDA00034911500100000410
5. a gravity disturbance eliminating high-precision placement tension control method according to claim 4, wherein the six-axis equipment is a six-axis horizontal machine tool or a six-axis vertical machine tool or a six-axis robot.
6. A gravity disturbance elimination high precision placement tension control method according to any one of claims 3 to 5, wherein the compensation amount is sent to a tension controller, and real-time compensation for the gravity disturbance amount of the spring roller is realized by the tension controller.
7. A gravity disturbance elimination high-precision placement tension control method according to any one of claims 3 to 5, wherein the amount of positional deviation of the spring roller is detected by a tension detection mechanism.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115583539A (en) * 2022-10-27 2023-01-10 中国航空制造技术研究院 Device and method for controlling tow tension for laying composite tows
WO2023240860A1 (en) * 2022-06-17 2023-12-21 成都飞机工业（集团）有限责任公司 Design method and apparatus for automated fiber placement tool, device, and storage medium

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