Method and system for controlling active film winding and unwinding speed in continuous fiber laying process

Abstract

The invention discloses a control method and system for active film winding and unwinding speed in the continuous fiber laying process, and belongs to the technical field of continuous fiber reinforced composite material additive manufacturing. According to the control method, the upper computer control system of the whole system controls the rotating speed of a film winding roll and the rotating speed of a yarn unwinding roll, and the rotating speed and the radius of a pressing wheel are both considered. The pressing wheel serves as a main device for driving the whole system to operate, meanwhile, the thickness of a film winding roll and the thickness of a yarn unwinding roll change continuously along with continuous fiber laying, the pressing wheel serves as main traction film winding equipment, meanwhile, the continuous change of the thickness of the film winding roll and the thickness of the yarn unwinding roll are considered, and the film winding roll and the yarn unwinding roll are continuously wound along with continuous fiber laying. And the rotating speeds of the film winding roll and the yarn unwinding roll are continuously changed. According to the method, equipment space is saved, cost is reduced, film collecting accuracy is improved, shutdown faults are reduced, and efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of additive manufacturing of continuous fiber reinforced composite materials, and specifically relates to a method and system for controlling active film winding and unwinding speeds in a continuous fiber laying process. Background Art

[0002] Advanced continuous fiber reinforced composite materials have the advantages of high specific strength, high specific modulus and designability, and are increasingly widely used in aerospace, wind turbine blades, automobiles and other fields. The automated placement manufacturing of continuous fiber composite structural parts has become a trend in the manufacturing of large fiber composite structural parts, among which the automated forming wire placement technology provides convenience for the processing and forming of complex structural parts.

[0003] At present, in the process of fiber placement, in order to realize the synchronous film collection process, the fiber prepreg tow is separated from the backing film, and the combined force of tension generates pressure to provide friction to drive the backing paper collecting device to rotate synchronously for winding. The laser sensor is used to measure the diameter of the yarn roll during the fiber placement process to realize the active unwinding speed control during the placement process. The broken yarn of the fiber filament during the placement process is captured in real time by an additional high-definition camera. The above three aspects have the following disadvantages: the friction force of passive yarn collection is difficult to control accurately, and it is easy to slip and the friction force fails to make it difficult to smoothly collect the film; a large number of electrical equipment have been installed on the yarn rack of the silk placement equipment, and the circuit and air path are complicated. The silk placement tension yarn release radius and broken yarn detection function require the addition of additional auxiliary detection instruments, which increases the complexity of the system and related manufacturing costs. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a method and system for controlling the active film gathering and unwinding speed in the continuous fiber laying process, so as to solve the problem in the prior art that the friction force of passive yarn gathering is difficult to accurately control, resulting in difficulty in smooth film gathering.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A method for controlling the active film winding and unwinding speed in a continuous fiber laying process comprises the following steps: Step 1, the host computer control system adjusts the speed of the winding motor of the winding reel according to the wire feeding time; The motor speed of the film winding and yarn unwinding is related to the rotation radius of the pressing wheel unwinding, the speed of the pressing wheel unwinding, the initial radius of the film winding and yarn unwinding, the number of PE film unwinding layers wound by the film winding and yarn unwinding, and the thickness of the PE film unwinding; the number of PE film unwinding layers is related to the wire feeding length, the initial radius of the film winding disc in the film winding and yarn unwinding, and the thickness of the PE film unwinding, and the wire feeding length is related to the wire feeding time; Step 2, the host computer control system adjusts the speed of the yarn releasing motor of the yarn releasing reel according to the yarn feeding time; The speed of the unwinding motor of the unwinding roll is related to the rotation radius of the unwinding of the pressure wheel, the speed of the unwinding of the pressure wheel, the initial radius of the unwinding roll, the number of fiber prepreg unwinding layers wound by the unwinding roll, and the thickness of the fiber prepreg unwinding; the number of fiber prepreg unwinding layers wound by the unwinding roll and the thickness of the fiber prepreg unwinding are related, the radius of the core shaft in the unwinding roll and the remaining length of the unwinding roll, the remaining length of the unwinding roll is related to the wire feeding length, and the wire feeding length is related to the wire feeding time.

[0006] A further improvement of the present invention is: Preferably, in step 1, the motor speed of the film winding and yarn unwinding is The calculation formula is:

[0007] in, is the speed of the yarn release by the pressing wheel, is the rotation radius of the pressing wheel for releasing the yarn, is the initial radius of the winding and unwinding yarn, The number of PE film layers on the film reel. It is the thickness of the PE film yarn.

[0008] Preferably, the calculation formula for the number of PE film yarn layers is:

[0009] in, is the thickness of the PE film yarn, is the initial radius of the winding and unwinding yarn, 1 is the wire feeding length.

[0010] Preferably, the calculation formula for the wire feeding length is:

[0011] in, The wire feeding speed of the pressing wheel is is the wire feeding radius of the pressing wheel. Wire feeding time.

[0012] Preferably, in step 2, the calculation formula for the speed of the yarn releasing motor is:

[0013] in, The wire feeding speed of the pressing wheel is is the wire feeding radius of the pressing wheel. is the initial radius of the yarn unwinding reel, D1 is the number of fiber prepreg yarn layers of the yarn winding, and D2 is the thickness of the fiber prepreg yarn.

[0014] Preferably, the formula for calculating the number of unwinding layers of the fiber prepreg unwinding winding is:

[0015] Where D1 is the thickness of the fiber prepreg unwinding yarn, R6 is the radius of the mandrel in the unwinding yarn, The remaining length of the yarn is unwound on the yarn reel.

[0016] Preferably, the remaining length of the unwinding yarn is calculated as follows:

[0017] Wherein, L is the unwinding length of the fiber prepreg unwinding winding, and L1 is the wire feeding length.

[0018] Preferably, during the laying process, if the upper computer control system fails to collect the yarn release rotation speed of the pressure wheel, it is determined that the system has yarn breakage.

[0019] An active film-reeling and unwinding speed control system for the continuous fiber laying process for realizing the above control method, comprising yarn unwinding reel, yarn unwinding reel, yarn unwinding reel, yarn unwinding reel, yarn unwinding reel, yarn unwinding reel, yarn unwinding reel, yarn unwinding reel and yarn unwinding reel; The unwinding yarn is wound with fiber prepreg unwinding yarn, and the fiber prepreg unwinding yarn includes composite PE film unwinding yarn and fiber bundle unwinding yarn, the PE film unwinding yarn is wound and stored by the film-collecting unwinding yarn, and the fiber bundle unwinding yarn is transported by the re-feeding system unwinding yarn to the cutting system unwinding yarn and the pressure roller unwinding yarn.

[0020] Preferably, a buffer system yarn release and a tightening system yarn release are arranged between the yarn release reel yarn release and the yarn release of the re-feeding system yarn release.

[0021] Compared with the prior art, the present invention has the following beneficial effects: The present invention discloses a control method for active film winding and unwinding speed in a continuous fiber laying process, and the control method controls the rotation speed of the film winding reel and the yarn unwinding reel through the upper computer control system of the entire system, and both take into account the rotation speed and radius of the pressure wheel. The pressure wheel is the main device to drive the entire system to operate. At the same time, as the continuous fiber laying proceeds, the thickness of the film winding reel and the yarn unwinding reel is constantly changing. The present invention takes the pressure wheel as the main factor affecting the rotation speed of the film winding device into consideration, and takes into account the continuous change in the thickness of the film winding reel and the yarn unwinding reel. As the continuous fiber laying proceeds, the rotation speed of the film winding reel and the yarn unwinding reel is constantly changing. This method not only saves equipment space and reduces costs, but also improves the accuracy of film winding, reduces downtime failures, and improves efficiency. The method of the present invention also has the following advantages: (1) The active film-winding mechanism and control algorithm for laying carbon fiber composite materials proposed in the present invention can replace the existing passive film-winding method relying on friction force. The present invention adjusts the rotation speed of the film-winding reel and the yarn-releasing reel in real time, so that the fiber bundle liner film can be accurately wound up to prevent defects such as film breakage and curling during the passive film-winding process.

[0022] (2) The unwinding radius calculation method proposed in the present invention replaces the current method of online calculation of fiber tension by measuring the unwinding radius with a distance sensor, avoiding the defects of complicated electrical equipment and high cost caused by the online real-time camera to judge the fiber and other control systems, and reducing the use of electrical components in the system. On the one hand, the equipment cost is reduced, and on the other hand, the influence of measurement errors on tension control can be reduced. (3) The control algorithm of the re-feeding system can replace the existing passive control film collection method that relies on friction. It can automatically identify yarn breakage failures and accurately rewind the fiber lining paper film to prevent defects such as film breakage and curling during the passive film collection process; reduce human intervention in the fiber tow laying process, and improve laying efficiency and fiber laying defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the fiber placement equipment; Among them, 1- unwinding yarn roll, 2-rewinding yarn roll; 3-PE film, 4-fiber bundle, 5-clamping system, 5-1-pressing plate, 5-2-cylinder, 5-3-base; 6-heavy feeding system; 6-1-servo motor, 6-2-rotating shaft, 6-3-pressure wheel, 6-4-cylinder, 6-5-servo valve, 7-cutting system, 7-1-cylinder, 7-2-cutting knife, chopping board-7-3, 8-buffer system, 8-1-pressure buffer device, 8-2-roller, 9-fiber prepreg, 10-compacting roller, 11-laying system, 12-motion system, 13-host computer control system. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings: Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0025] The present invention discloses a control system for active film winding and unwinding speed in a continuous fiber laying process, and the system is aimed at fiber laying equipment. Figure 1The fiber placement system includes a motion system 12 and a host computer system 13. The host computer system 13 is connected to each device in the motion system 12 by electrical signals to control each device in the motion system 12. The motion system includes a yarn unwinding reel 1, a film winding reel 2, a buffer system 8, a tightening system 5, a re-feeding system 6, a cutting system 7 and a pressure roller 10.

[0026] The unwinding reel 1 is wound with fiber prepreg 9, and the film winding reel 2 is used to wind PE film 3. The fiber prepreg 9 is composed of PE film 3 and fiber bundle 4. When in use, PE film 3 is rolled up by film winding reel 2, so that fiber bundle 4 and PE film 3 are separated. After being supported by rollers in buffer system 8, fiber bundle 4 enters clamping system 5, then passes through re-feeding system 6 to enter cutting system 7, and finally is laid by pressing roller 10. The unwinding reel 1 includes a mandrel and a motor, and the mandrel is driven by the unwinding motor. The motor in the unwinding reel 1 is connected to the host computer control system 13 by electrical signals, and its rotation speed is controlled by the host computer control system 13. The mandrel is wound with fiber prepreg 9, and the film winding reel 2 includes a film winding disc and a winding motor, and PE film 3 is wound on the film winding disc. The motor of the film winding reel 2 is connected to the host computer control system 13 by electrical signals, and its rotation speed is controlled by the host computer control system 13.

[0027] The re-feeding system 6 includes two opposite pinching wheels 6-3, and the two pinching wheels 6-3 are respectively on both sides of the fiber bundle 4. The rotating shaft 6-2 of one pinching wheel 6-3 is connected to the servo motor 6-1, and the rotating shaft 6-2 of the other pinching wheel 6-3 is connected to the cylinder 6-4, and the cylinder 6-4 is connected to the servo valve 6-5. One pinching wheel 6-3 is driven by the servo motor 6-1, and the other is driven by the cylinder 6-4. The servo motor 6-1 controls the rotation of one pinching wheel 6-3 through the rotating shaft, and the cylinder 6-4 controls the movement of the other pinching wheel 6-3 through the rotating shaft 6-2. The movement of the cylinder 6-4 is regulated by the servo valve 6-5, and the servo valve 6-5 adjusts the pressure and position of the cylinder 6-4 according to the system requirements to ensure that the pinching wheel 6-3 applies appropriate pressure to the fiber bundle 4. The pressing wheel 6-3 driven by the servo motor 6-1 is responsible for actively pulling the fiber tow 4, and the pressing wheel 6-3 driven by the cylinder 6-4 provides pressure, and the two cooperate to ensure stable transportation of the tow. The servo motor 6-1 and the servo valve 6-5 can adjust the speed and pressure as needed to adapt to different materials and process requirements.

[0028] The buffer system 8 is composed of a pressure buffer device 8-1 and a rotatable roller 8-2, which can buffer the change of the tension of the fiber tow 4. The pressure buffer device 8-1 can be a spring or a cylinder, and the front end is installed The tightening system 5 consists of a pressure plate 5-1 at the front end of the cylinder 5-2 and a base 5-3. There is a certain gap between the pressure plate 5-1 and the base 5-3, which allows the fiber bundle 4 to pass through. The extension of the cylinder 5-2 can press the fiber bundle 4 against the base 5-3, and the retraction of the cylinder can release the compression of the fiber bundle 4.

[0029] The cutting system 7 consists of a cutting knife 7-2 and an anvil 7-3 at the front end of the cylinder 7-1. There is a certain gap between the cutting knife 7-2 and the anvil 7-3, which allows the fiber bundle 4 to pass through. The extension of the cylinder 7-1 drives the cutting knife 7-2 to cut the fiber bundle 4 on the anvil 7-3. When the cylinder 7-1 is retracted, the fiber bundle 4 will not be cut.

[0030] The host computer control system 13 can collect the speed of the pinch wheel 6-3 in the re-feeding system 6 in real time, and can also control the speed of the pinch wheel 6-3 and the output of the cylinder 6-4 through the servo motor 6-1, thereby controlling the tension of the re-feeding system 6 on the fiber bundle 4. The host computer control system 13 can also control the speed of the yarn unwinding reel 1 and the film winding reel 2 in real time.

[0031] Set the speed of yarn unwinding reel 1 to , the speed of film winding roll 2 is , the speed of the clamping wheel 6-3 is The radius of the clamping wheel 6-3 is R3, the radius of the film collecting disk is R2, the initial radius of the yarn unwinding roll 1 is R5, the core shaft radius of the yarn unwinding roll 1 is R6, the real-time unwinding radius of the yarn unwinding roll 1 is R4, and the real-time winding radius of the film collecting roll 2 is R7.

[0032] Based on the above system, the present invention discloses a control system for active film winding and unwinding speed in a continuous fiber laying process, comprising the following steps: Step 1: The film reel 2 is actively rewound synchronously under the drive of the film reel motor, and the speed of the servo motor of the film reel 2 is Wire feed length with refeed system 6 The length of the fiber prepreg 9 wound in the yarn roll 1 is , the wire feeding length of the entire system at any time is 1. The remaining length on the yarn roll 1 is 3. Then = 3 (1) Assume that the speed of the pinch wheel 6-3 in the re-feeding system is , which is driven by the fiber tow 4 during the laying process by the friction of the fiber, wherein the speed The upper computer control system 13 reads a known quantity from the servo motor 6-1. The rotation radius of the pressure wheel 6-3 is R3. The real-time wire feeding speed v3 of the fiber bundle 4 is calculated as shown in the following formula (2): (2) And it is necessary to ensure that the active film collection speed V2=V3, where V2 is the film collection speed of the film collection roll 2, set the thickness D2 of the PE film 3, the initial radius R2 of the film collection disk in the film collection roll 2, the current radius R7, and a certain time The wire feeding length of the whole system 1 is: (3) The motor of film reel 2 increases the length L2 of PE film 3 to: L2=

[0033] (4) Transforming formula (4) yields: (5) Combining equation (3) and equation (5), we get a linear equation of two variables, which can be obtained by root-finding formula: (6) Among them, n2 takes a positive value, and the current radius of film roll 2 can be calculated. , the number of layers n2 of the film reel 2 during the film reeling process is the number of motor rotations automatically calculated by the host computer system.

[0035] The current motor speed w2 of film winding roll 2 is: (7) Step 2: During the fiber placement process, the fiber tension needs to be constantly controlled. Assuming that the tension F is constant and the torque of the unwinding motor is T, the relationship between them is: The present invention adopts an indirect measurement method to ensure constant tension; assuming that the fiber bundle is a rigid body, changes in the fiber laying speed will cause tension changes. To keep the tension constant, it is only necessary to ensure that the yarn unwinding speed v1 of the yarn unwinding reel 1 is consistent with the wire feeding measurement speed v3 and v1=v3, then the tension F is a constant value.

[0036] Assume that the servo motor 6 of the re-feeding system 6, under the action of the pinch wheel 6-3, the tow relies on the fiber friction force to rotate at a certain speed during the laying process. Rotate, where the speed The known quantity is read from the servo motor by the host computer system. The rotation radius is R3, so the wire feeding speed is: (2) Assume that the thickness of the fiber prepreg 9 is D1 (including the thickness of the fiber tow 4 and the thickness of the PE film 3), the initial radius of the unwinding roll 1 is R5, the core shaft radius is R6, the real-time unwinding radius is R4, and the wire feeding length is L1, then the speed of the unwinding motor is: (8) Among them, the real-time unwinding radius R4 is a constantly changing quantity. As long as R4 is solved, the real-time speed of the unwinding motor can be calculated. .

[0037] The number of layers n1 of the remaining fiber prepreg 9 is: 1 (9) The remaining length L3 of the unwinding yarn roll 1 is: (10) The remaining length L3 of the unwinding yarn roll 1 is: (11) Solve equation (11) by the root-finding formula to obtain: (12) Among them, n1 takes a positive value solution, and the real-time unwinding radius can be calculated: (13) The current real-time speed of the yarn roll is: (14) Step 3: During the laying process, when yarn breakage occurs, the servo motor of the wire feeding system rotates due to the lack of friction of the fiber bundle. When the host computer cannot receive the rotation signal w3 of the servo motor, it is considered that the system has a yarn breakage fault and needs to be stopped for inspection. Example Step 1, the fiber prepreg 9 is drawn out from the yarn unwinding reel 1, wherein the PE film 3 is collected by the film taking-up reel 2, and the separated fiber tows 4 pass through the buffer system 8, the clamping system 5, the re-feeding system 6 and the cutting system 7 in sequence until they reach the roller 10.

[0038] Step 2, the host computer control system 13 is respectively connected to the servo motor 6-1, cylinder 6-4 and servo valve 6-5 in the re-delivery system 6 by electrical signals, and can control the re-delivery system 6. The host computer system 13 is also connected to the control motors of the film winding roll 2 and the yarn unwinding roll 1 to control the rotation speeds of the two.

[0039] Step 3: During the printing process, the fiber prepreg 9 needs to be continuously fed. The servo valve 6-5 adjusts the pressure P1, and the cylinder 6-4 drives the clamping wheel 6-3 to press the fiber bundle 4 onto the shaft 6-2. At the same time, the shaft 6-2 is fixedly connected to the servo motor 6-1. The friction force generated by the clamping force can drive the servo motor 6-1 to rotate at a speed of Rotate.

[0040] Step 4, the film roll 2 is calculated according to the following control algorithm based on the host computer system 1-3 :Speed The known quantity is read from the servo motor by the host computer system. The rotation radius is R3, and the wire feeding speed is v3. It is necessary to ensure that the active film collection speed v2=v3. The wire feeding length is:

[0041] And it is necessary to ensure that the active film collection speed V2=V3, where V2 is the film collection speed of the film collection roll 2, set the thickness D2 of the PE film 3, the initial radius R2 of the film collection disk in the film collection roll 2, the current radius R7, and a certain time The wire feeding length of the whole system 1 is: (3) The motor of film reel 2 increases the length L2 of PE film 3 to: L2=

[0042] (4) Transforming formula (4) yields: (5) Combining equation (3) and equation (5), we get a linear equation of two variables, which can be obtained by root-finding formula: (6) Among them, n2 takes a positive value, and the current radius of film roll 2 can be calculated. , the number of layers n2 of the film reel 2 during the film reeling process is the number of motor rotations automatically calculated by the host computer system.

[0044] The current motor speed w2 of film winding roll 2 is: (7) Step 5, the yarn roll 1 is released according to the upper computer system 1-3 to obtain the following control algorithm to calculate w :Assuming that the re-feeding motor is under the action of the pinch wheel, the tow relies on the fiber friction force to rotate at a certain speed during the laying process Rotate, where the speed The known quantity is read from the servo motor by the host computer system. The rotation radius is R3, so the wire feeding speed is: (2) Among them, the thickness of the fiber bundle 4 is D1, the initial radius of the yarn unwinding roll 1 is R5, the core shaft radius is R6, the real-time unwinding radius is R4, and the wire feeding length is L1, then the speed of the yarn unwinding motor is: (8) Among them, the real-time unwinding radius R4 is a constantly changing quantity. As long as R4 is solved, the real-time speed of the unwinding motor can be calculated. .

[0045] The number of layers n1 of the remaining fiber prepreg 9 is: 1 (9) The remaining length L3 of the unwinding yarn roll 1 is: (10) The remaining length L3 of the unwinding yarn roll 1 is: (11) Solve equation (11) by the root-finding formula to obtain: (12) Among them, n1 takes a positive value solution, and the real-time unwinding radius can be calculated: (13) The current real-time speed of the yarn roll is: (14) Step 6, when the laying system is working, if yarn breakage occurs, the servo motor 6-1 rotates due to the lack of friction of the fiber bundle. When the upper computer system 1-3 cannot receive the rotation signal w3 of the servo motor, it is considered that the system has a yarn breakage fault and needs to be stopped for inspection to eliminate the yarn breakage fault.

[0046] Step 7: When automatically placing the fiber again, repeat step 1 to start placing the fiber.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, the first feature "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features not being in direct contact but being in contact through another feature between them.

[0048] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0051] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the active film winding and unwinding speed in a continuous fiber laying process, characterized in that: The following steps are involved: Step 1, the upper computer control system (13) adjusts the speed of the winding motor of the film winding roll (2) according to the wire feeding time; The motor speed of the film winding roll (2) is related to the rotation radius of the pressure wheel (6-3), the speed of the pressure wheel (6-3), the initial radius of the film winding roll (2), the number of layers of PE film (3) wound around the film winding roll (2), and the thickness of the PE film (3); the number of layers of PE film (3) is related to the wire feeding length, the initial radius of the film winding disk in the film winding roll (2), and the thickness of the PE film (3); and the wire feeding length is related to the wire feeding time; Step 2, the host computer control system (13) adjusts the speed of the yarn unwinding motor of the yarn unwinding reel (1) according to the yarn feeding time; The rotation speed of the yarn unwinding motor of the yarn unwinding roll (1) is related to the rotation radius of the pressure wheel (6-3), the rotation speed of the pressure wheel (6-3), the initial radius of the yarn unwinding roll (1), the number of fiber prepreg (9) layers wound by the yarn unwinding roll (1), and the thickness of the fiber prepreg (9); the number of fiber prepreg (9) layers wound by the yarn unwinding roll (1) and the thickness of the fiber prepreg (9), the radius of the core shaft in the yarn unwinding roll (1), and the remaining length of the yarn unwinding roll (1); the remaining length of the yarn unwinding roll (1) is related to the wire feeding length; and the wire feeding length is related to the wire feeding time.

2. The method for controlling the active film winding and unwinding speed in the continuous fiber placement process according to claim 1, characterized in that: In step 1, the motor speed of the film winding reel (2) is The calculation formula is: in, is the speed of the pressure wheel (6-3), is the rotation radius of the clamping wheel (6-3), is the initial radius of the film winding reel (2), is the number of layers of PE film (3) on the film reel (2), is the thickness of the PE film (3).

3. The method for controlling the active film winding and unwinding speed in the continuous fiber placement process according to claim 1, characterized in that: The calculation formula for the number of layers of the PE film (3) is: in, is the thickness of the PE film (3), is the initial radius of the film winding reel (2), 1 is the wire feeding length.

4. The method for controlling the active film winding and unwinding speed in the continuous fiber placement process according to claim 1, characterized in that: The calculation formula of the wire feeding length is: in, is the wire feeding speed of the clamping wheel (6-3), is the wire feeding radius of the clamping wheel (6-3), Wire feeding time.

5. The method for controlling the active film winding and unwinding speed in the continuous fiber placement process according to claim 1, characterized in that: In step 2, the calculation formula of the yarn release motor speed is: in, is the wire feeding speed of the clamping wheel (6-3), is the wire feeding radius of the clamping wheel (6-3), is the initial radius of the yarn roll (1), is the number of layers of fiber prepreg (9) wound around the yarn roll (1), and D1 is the thickness of the fiber prepreg (9).

6. The method for controlling the active film winding and unwinding speed in the continuous fiber placement process according to claim 1, characterized in that: The calculation formula for the number of layers of fiber prepreg (9) wound around the yarn unwinding roll (1) is: Wherein, D1 is the thickness of the fiber prepreg (9), R6 is the radius of the core shaft in the yarn roll (1), It is the remaining length of the yarn roll (1).

7. The method for controlling the active film winding and unwinding speed in the continuous fiber placement process according to claim 1, characterized in that: The remaining length of the unwinding roll (1) is calculated as follows: Wherein, L is the length of the fiber prepreg (9) wound by the yarn unwinding reel (1), and L1 is the wire feeding length.

8. The method for controlling the active film winding and unwinding speed in the continuous fiber placement process according to claim 1, characterized in that: During the laying process, if the upper computer control system (13) fails to collect the rotation speed of the pressure wheel (6-3), it is determined that the system has a yarn break.

9. An active film winding and unwinding speed control system for a continuous fiber placement process for realizing the control method of claim 1, characterized in that: It comprises a yarn unwinding reel (1), a film collecting reel (2), a re-feeding system (6), a cutting system (7) and a pressing roller (10); The unwinding reel (1) is wound with a fiber prepreg (9), the fiber prepreg (9) comprising a composite PE film (3) and a fiber bundle (4), the PE film (3) is wound and stored by a film collection reel (2), and the fiber bundle (4) is transported by a re-feeding system (6) to a cutting system (7) and a pressing roller (10).

10. The active film winding and unwinding speed control system in the continuous fiber placement process according to claim 9, characterized in that: A buffer system (8) and a tightening system (5) are provided between the unwinding yarn reel (1) and the re-delivering system (6).

Images