| Carbon fiber-reinforced polymer(CFRP)prepreg tow automatic lay-up process is too much tension,too little tension or poor stability will produce lay-up defects.The automatic layup process involves frequent cutting of the tow,and the efficiency of automatic lay-up is seriously affected by the traditional cutting method,which requires cutting when the tow is stationary.Due to the limitations of traditional cutting methods,various cutting quality problems can occur.Therefore,this paper investigates the tension control and laser oscilloscope tracking for the automatic lay-up of CFRP filament bundles to effectively control the tension of filament bundles and improve the quality of the automatic lay-up of filament bundles.This paper investigates the use of the laser oscilloscope technology to track and cut the filament bundle to avoid the irreversible damage caused by the traditional contact cutting method and to track the moving filament bundle so that the advantages of the laser oscilloscope can be used to improve the cutting quality and the efficiency of the automatic lay-up.A testbed for automatic placement of CFRP filament tension control and laser oscilloscope tracking cutting was built to verify the effect of filament tension control and laser oscilloscope tracking cutting.Firstly,the requirements of the test platform were analyzed,then the structural design and hardware selection of the platform were completed,and the overall plan of the test platform was determined.To obtain a better cutting effect,the laser galvanometer cutting process of CFRP was studied.The effects of single-mode continuous laser and nanosecond pulsed laser on the static cutting quality of the filament beam were compared and analyzed,and the process experiments were designed for each of the above lasers.It is found that the processing quality of nanosecond pulsed laser is high,but the processing efficiency is low;single-mode continuous laser can achieve a high cutting speed of 400 mm/s,but the cutting quality is slightly worse than that of pulsed laser.For the motion control of the platform,this paper adopts the S-curve acceleration and deceleration algorithm for planning and uses the modified trapezoidal algorithm to compensate for the error of the whole interpolation cycle rounding.The corresponding tracking cutting algorithm is proposed for several more typical trajectories such as straight line,diagonal line,and circular arc.For effective control of the filament tension,the CFRP filament tension control system is simulated and analyzed.The system model of the relationship between the tension of the filament bundle and the discharge axis torque of the tension control system is established.The improved IA-PSO algorithm is used to optimize the PID controller parameters to solve the problem of difficult parameter adjustment of the conventional PID controller.Combining fuzzy control with the optimized PID controller,the parameters of the PID controller are adjusted in real-time during the tension control process to improve the self-adaptability of the control algorithm,thus obtaining better control effects.To verify the control effect of the above tension control algorithm,tension step and variable speed disturbance experiments were designed to detect the silk bundle tension by a Ttype tension sensor.At an acceleration of 1200 mm/s^2,the fluctuation rate of the filament tension in the acceleration/deceleration phase is less than 10.94%,and the time to reach the steady state is less than 1.42 S.The fluctuation rate of the tension in the uniform speed phase is less than 3.68%.The experimental results show that the beam tension is rapidly stabilized around the target value.To verify the cutting accuracy of the laser oscillator tracking algorithm,tracking cutting experiments were designed for different angles of straight lines and different radii of circular arcs.The straight line trajectory cut the filament beam with the HAZ(heat affected zone width)of the upper surface not more than 0.61mm,lower surface HAZ not more than 0.962mm,and straightness of section not more than 0.088mm;the circular arc trajectory cut the filament beam with the HAZ of the upper surface not more than 0.532mm,lower surface not more than 0.662mm,and roundness not more than 0.12mm.The experimental results show that the laser cutting beam is highly efficient,and the tracking cut has a neat cutting surface,good cutting quality and small HAZ width,which meets the actual use requirements... |
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