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 composites, and particularly relates to a control method and system for actively winding and unwinding the film during the continuous fiber laying process. Background Art

[0002] Advanced continuous fiber reinforced composites have the advantages of high specific strength, high specific modulus, and designability, and are increasingly widely used in the fields of aerospace, wind power generation blades, automobiles, etc. The automated laying manufacturing of continuous fiber composite structural parts has become the trend of manufacturing large-scale fiber composite structural parts, and the automated filament winding technology provides convenience for processing complex structural parts.

[0003] Currently, during the fiber laying process, in order to achieve the process of synchronous film winding, separate the fiber prepreg tow from the backing film, generate pressure through the resultant force of tension to provide friction to drive the backing paper collection device to rotate synchronously for winding. The active unwinding speed control during the laying process is achieved by measuring the diameter of the yarn unwinding roll with a laser sensor during the fiber laying process, and the broken yarn during the fiber laying process is detected by an additional high-definition camera in real time. The above three aspects have the following disadvantages: Passive yarn collection has difficulty in precisely controlling the friction force, is prone to slipping, and the friction force fails, making it difficult to smoothly wind the film; A large number of electrical devices have been installed on the yarn rack of the filament winding equipment, and the circuits and air circuits are complex. Additional auxiliary detection instruments are required for the functions of filament winding tension, unwinding radius, and broken yarn detection, increasing the complexity of the system and the related manufacturing costs. Summary of the Invention

[0004] An object of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a control method and system for actively winding and unwinding the film during the continuous fiber laying process, so as to solve the problem in the prior art that passive yarn collection has difficulty in precisely controlling the friction force, resulting in difficulty in smoothly winding the film.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A control method for actively winding and unwinding the film during the continuous fiber laying process includes the following steps:

[0007] Step 1, the upper computer control system adjusts the rotation speed of the winding motor of the film winding and unwinding according to the wire feeding time.

[0008] The rotation speed of the motor for film winding and unwinding is related to the rotation radius of the pressure roller for unwinding, the rotation speed of the pressure roller for unwinding, the initial radius of the film winding and unwinding, the number of layers of the PE film unwound during the film winding and unwinding, and the thickness of the PE film unwound; The number of layers of the PE film unwound is related to the wire feeding length, the initial radius of the winding disc in the film winding and unwinding, and the thickness of the PE film unwound, and the wire feeding length is related to the wire feeding time;

[0009] Step 2, the upper computer control system adjusts the rotation speed of the yarn-releasing motor of the yarn-releasing roll according to the wire-feeding time.

[0010] The rotation speed of the yarn-releasing motor of the yarn-releasing roll is related to the rotation radius of the yarn-releasing by the pressing wheel, the rotation speed of the yarn-releasing by the pressing wheel, the initial radius of the yarn-releasing of the yarn-releasing roll, the number of layers of the fiber pre-preg released by the yarn-releasing roll, and the thickness of the fiber pre-preg released; the number of layers of the fiber pre-preg released by the yarn-releasing roll and the thickness of the fiber pre-preg released, the core shaft radius in the yarn-releasing of the yarn-releasing roll, and the remaining length of the yarn-releasing of the yarn-releasing roll are related, the remaining length of the yarn-releasing of the yarn-releasing roll is related to the wire-feeding length, and the wire-feeding length is related to the wire-feeding time.

[0011] A further improvement of the present invention is as follows:

[0012] Preferably, in step 1, the calculation formula for the rotation speed ω2 of the motor of the film-receiving roll for yarn-releasing is:

[0013] ω2 = ω3×R3 / (R2 + D2×D2)

[0014] Wherein, ω3 is the rotation speed of the yarn-releasing by the pressing wheel, R3 is the rotation radius of the yarn-releasing by the pressing wheel, R2 is the initial radius of the film-receiving roll for yarn-releasing, n2 is the number of layers of the PE film released on the film-receiving roll for yarn-releasing, and D2 is the thickness of the PE film released.

[0015] Preferably, the calculation formula for the number of layers of the PE film released is:

[0016]

[0017] Wherein, D2 is the thickness of the PE film released, R2 is the initial radius of the film-receiving roll for yarn-releasing, and L1 is the wire-feeding length.

[0018] Preferably, the calculation formula for the wire-feeding length is:

[0019] L1 = 2×π×ω3×R3×Δt

[0020] Wherein, ω3 is the wire-feeding rotation speed of the yarn-releasing by the pressing wheel, R3 is the wire-feeding radius of the yarn-releasing by the pressing wheel, and Δt is the wire-feeding time.

[0021] Preferably, in step 2, the calculation formula for the rotation speed of the yarn-releasing motor is:

[0022] ω1 = ω3×R3 / (R5 - n1×D1)

[0023] Wherein, ω3 is the wire-feeding rotation speed of the yarn-releasing by the pressing wheel, R3 is the wire-feeding radius of the yarn-releasing by the pressing wheel, R5 is the initial radius of the yarn-releasing roll, n1 is the number of layers of the fiber pre-preg released by the yarn-releasing roll, and D1 is the thickness of the fiber pre-preg released.

[0024] Preferably, the formula for calculating the number of layers of fiber prepreg unwound from the unwinding reel is:

[0025]

[0026] where D1 is the thickness of the fiber prepreg unwound, R6 is the core radius in the unwinding of the unwinding reel, and L3 is the remaining length of the unwinding of the unwinding reel.

[0027] Preferably, the formula for calculating the remaining length of the unwinding of the unwinding reel is:

[0028] L3 = L - L1

[0029] where L is the length of the fiber prepreg unwound from the unwinding reel, and L1 is the wire feeding length.

[0030] Preferably, during the laying process, if the upper computer control system does not collect the rotation speed of the compacting wheel during unwinding, it is determined that the system has a broken yarn.

[0031] A continuous fiber laying process active film winding and unwinding speed control system for implementing the above control method, including unwinding of the unwinding reel, winding of the film winding reel, unwinding of the refeeding system, unwinding of the cutting system, and unwinding of the pressure roller;

[0032] The unwinding reel is wound with fiber prepreg unwinding, and the fiber prepreg unwinding includes composite PE film unwinding and fiber tow unwinding. The PE film unwinding is wound and stored by the film winding reel, and the fiber tow unwinding is transported by the refeeding system to the cutting system and the pressure roller.

[0033] Preferably, a buffer system for unwinding and a clamping system for unwinding are provided between the unwinding reel and the refeeding system.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention discloses a control method for active film winding and unwinding speed during continuous fiber laying. This control method controls the rotation speeds of the film winding reel and the unwinding reel through the upper computer control system of the entire system, and both consider the rotation speed and radius of the compacting wheel. The compacting wheel is the main device driving the operation of the entire system. At the same time, as continuous fiber laying progresses, the thicknesses of the film winding reel and the unwinding reel are constantly changing. The present invention takes the rotation speed of the compacting wheel, which is the main device driving the film winding equipment, into consideration, and also takes into account the continuous change in the thicknesses of the film winding reel and the unwinding reel. As continuous fiber laying progresses, the rotation speeds of the film winding reel and the unwinding reel are 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:

[0036] (1) The active film rewinding mechanism and control algorithm for carbon fiber composite material placement proposed by the present invention can replace the existing method of passively controlling film rewinding relying on friction. The present invention adjusts the rotation speeds of the film rewinding roll and the yarn unwinding roll in real time, so as to accurately wind the fiber tow backing film and prevent defects such as film breakage and curling during passive film rewinding.

[0037] (2) The method for calculating the unwinding radius proposed by the present invention replaces the current method of calculating the fiber tension online by measuring the unwinding radius relying on a distance sensor, avoiding defects such as complex equipment electrical systems and high costs caused by online real-time camera judgment of fibers and other control systems, reducing the use of system electrical components. 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.

[0038] (3) The control algorithm of the refeeding system can replace the existing method of passively controlling film rewinding relying on friction, can automatically identify yarn breakage faults, accurately wind the fiber backing film, and prevent defects such as film breakage and curling during passive film rewinding; reduce the manual intervention in the tow placement process and improve the placement efficiency and filament placement defects. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of a fiber placement device;

[0040] Among them, 1 - yarn unwinding roll, 2 - yarn winding roll; 3 - PE film, 4 - fiber tow, 5 - clamping system, 5-1 - pressing plate, 5-2 - cylinder, 5-3 - base; 6 - refeeding system; 6-1 - servo motor, 6-2 - rotating shaft, 6-3 - pressing wheel, 6-4 - cylinder, 6-5 - servo valve, 7 - cutting system, 7-1 - cylinder, 7-2 - cutting knife, 7-3 - cutting board, 8 - buffer system, 8-1 - pressure buffer device, 8-2 - roller, 9 - fiber prepreg, 10 - compaction roller, 11 - placement system, 12 - motion system, 13 - upper computer control system. Detailed Embodiment

[0041] The following further describes the present invention in detail with reference to the drawings:

[0042] The embodiments of the present invention are described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described by referring to the drawings are exemplary and are only used to explain the present invention and cannot be understood as a limitation to the present invention.

[0043] The present invention discloses a control system for active film rewinding and unwinding speed during continuous fiber placement, and this system is for fiber placement equipment. Refer to Figure 1, the fiber placement system includes a motion system 12 and a host computer system 13. Each device in the host computer system 13 is electrically connected to each device in the motion system 12 to control each device in the motion system 12. The motion system includes a yarn unwinding roll 1, a film winding roll 2, a buffer system 8, a clamping system 5, a refeeding system 6, a cutting system 7, and a pressure roller 10.

[0044] The fiber prepreg 9 is wound around the yarn unwinding roll 1, and the film winding roll 2 is used to wind the PE film 3. The fiber prepreg 9 is composed of the PE film 3 and the fiber tow 4. During use, the PE film 3 is wound up by the film winding roll 2, so that the fiber tow 4 and the PE film 3 are separated. After the fiber tow 4 is supported by the roller in the buffer system 8, it enters the clamping system 5, then passes through the refeeding system 6 and enters the cutting system 7, and finally wire laying is carried out through the pressure roller 10. The yarn unwinding roll 1 includes a mandrel and a motor. The mandrel is driven by the yarn unwinding motor. The motor in the yarn unwinding roll 1 is electrically connected to the host computer control system 13, and its rotation speed is controlled by the host computer control system 13. The fiber prepreg 9 is wound around the mandrel. The film winding roll 2 includes a film winding disc and a winding motor. The PE film 3 is wound around the film winding disc. The motor of the film winding roll 2 is electrically connected to the host computer control system 13, and its rotation speed is controlled by the host computer control system 13.

[0045] The refeeding system 6 includes two opposite pressing wheels 6-3. The two pressing wheels 6-3 are respectively on both sides of the fiber tow 4. The rotating shaft 6-2 of one pressing wheel 6-3 is connected to the servo motor 6-1, and the rotating shaft 6-2 of the other pressing wheel 6-3 is connected to the cylinder 6-4. The cylinder 6-4 is connected to the servo valve 6-5. One pressing 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 pressing wheel 6-3 through the rotating shaft, and the cylinder 6-4 controls the movement of the other pressing wheel 6-3 through the rotating shaft 6-2. The movement of the cylinder 6-4 is regulated by the servo valve 6-5. The servo valve 6-5 adjusts the pressure and position of the cylinder 6-4 according to the system requirements to ensure that the pressing wheel 6-3 applies appropriate pressure to the fiber tow 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. The two cooperate to ensure the stable conveying of the tow. The servo motor 6-1 and the servo valve 6-5 can adjust the rotation speed and pressure as needed to adapt to different material and process requirements.

[0046] The buffer system 8 consists 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 is installed at the front end

[0047] The clamping system 5 consists of a pressing plate 5-1 at the front end of a cylinder 5-2 and a base 5-3. There is a certain gap between the pressing plate 5-1 and the base 5-3, which enables the fiber tow -4 to pass through. When the cylinder 5-2 extends, the fiber tow 4 can be pressed tightly against the base 5-3. When the cylinder retracts, the pressing of the fiber tow 4 is released.

[0048] The cutting system 7 consists of a cutting knife 7-2 at the front end of a cylinder 7-1 and a cutting board 7-3. There is a certain gap between the cutting knife 7-2 and the cutting board 7-3, which enables the fiber tow -4 to pass through. When the cylinder 7-1 extends, the cutting knife 7-2 driven by it can cut the fiber tow -4 on the cutting board 7-3. When the cylinder 7-1 retracts, the fiber tow 4 will not be cut.

[0049] The host computer control system 13 can collect the rotation speed of the pressure wheel 6-3 in the refeeding system 6 in real time, and can also control the rotation speed of the pressure wheel 6-3 and the output force of the cylinder 6-4 through the servo motor 6-1, so as to control the tension applied to the fiber tow 4 by the refeeding system 6. The host computer control system 13 can also control the rotation speeds of the yarn unwinding roll 1 and the film winding roll 2 in real time.

[0050] Set the rotation speed of the yarn unwinding roll 1 as ω1, the rotation speed of the film winding roll 2 as ω2, the rotation speed of the pressure wheel 6-3 as ω3, the radius of the pressure wheel 6-3 as R3, the radius of the film winding disc as R2, the initial radius of the yarn unwinding roll 1 as R5, the core shaft radius of the yarn unwinding roll 1 as R6, the real-time unwinding radius of the yarn unwinding roll 1 as R4, and the real-time winding radius of the film winding roll 2 as R7.

[0051] Based on the above system, a control system for the active film winding and unwinding speeds during the continuous fiber placement process disclosed by the present invention includes the following steps:

[0052] Step 1, the film winding roll 2 synchronously performs active winding under the drive of the film winding motor, and the rotation speed ω2 of the servo motor of the film winding roll 2 is calculated and matched with the wire feeding length L1 of the refeeding system 6. The length of the fiber prepreg 9 wound on the yarn unwinding roll 1 is L, the wire feeding length of the entire system at any time is L1, and the remaining length on the yarn unwinding roll 1 is L3. Then

[0053] L = L1 + L3 (1)

[0054] Assume that the rotation speed of the pressure wheel 6-3 in the refeeding system is ω3, which rotates by relying on the fiber friction force during the placement process of the fiber tow 4. The rotation speed ω3 is read as a known quantity from the servo motor 6-1 through the host computer control system 13. The rotation radius of the pressure wheel 6-3 is R3. Then the calculation formula for the real-time wire feeding speed v3 of the fiber tow 4 is shown in the following formula (2):

[0055] V3 = w3 × R3 (2)

[0056] And it is necessary to ensure that the active film winding speed V2 = V3, where V2 is the film winding speed of the film winding roll 2. Set the thickness D2 of the PE film 3, the initial radius R2 of the film winding disc in the film winding roll 2, and the current radius R7. Within a certain time Δt, the wire feeding length L1 of the entire system is:

[0057] L1 = 2 × π × ω3 × R3 × Δt (3)

[0058] The length L2 of the PE film 3 increased by the motor of the film winding roll 2 is: L2 = L1

[0059]

[0060] Transform Equation (4) to get:

[0061]

[0062] Combining Equation (3) and Equation (5), a binary linear equation is obtained and solved through the quadratic formula to get:

[0063]

[0064] Among them, when n2 takes the positive solution, the current radius R7 of the film winding roll 2 can be obtained as R7 = R2 + n2 × D2. The number of layers n2 of the film winding roll 2 during the film winding process is the number of turns of the motor rotation automatically calculated by the upper computer system.

[0065] Then the current motor speed w2 of the film winding roll 2:

[0066]

[0067] Step 2: During the fiber placement process, it is necessary to control the fiber tension constantly. Assume that the tension F is constant, and the torque of the unwinding motor is T. Then the relationship between them is: F = T × R4. The present invention adopts an indirect measurement method to ensure constant tension; assume that the fiber tow is a rigid body. The change in the placement fiber speed causes a change in tension. To keep the tension constant, it is only necessary to ensure that the yarn feeding speed v1 of the yarn unwinding roll 1 is consistent with the wire feeding measurement speed v3, i.e., v1 = v3, then the tension F is a constant value.

[0068] Assume that the servo motor 6 of the rewinding system 6 rotates at a certain speed ω3 by relying on the fiber friction force during the placement process under the action of the pressing wheel 6-3. Among them, the speed ω3 is read from the servo motor by the upper computer system and is a known quantity, and the rotation radius is R3. Then the wire feeding speed is:

[0069] V3 = w3 × R3 (2)

[0070] Set the thickness of the fiber prepreg 9 as D1 (including the thickness of the fiber tow 4 and the thickness of the PE film 3), the initial radius of the yarn unwinding roll 1 as R5, the core shaft radius as R6, the real-time unwinding radius as R4, and the wire feeding length as L1. Then the rotational speed of the yarn unwinding motor is:

[0071]

[0072] Among them, the real-time unwinding radius R4 is a quantity that constantly changes. As long as R4 is solved, the real-time rotational speed w1 of the yarn unwinding motor can be obtained.

[0073] The number of layers n1 of the remaining fiber prepreg 9 is:

[0074]

[0075] The remaining length L3 of the yarn unwinding roll 1 is:

[0076] L3 = L - L1 (10)

[0077] The remaining length L3 of the yarn unwinding roll 1 is:

[0078]

[0079] Solve Equation (11) using the quadratic formula:

[0080]

[0081] Among them, take the positive solution of n1 to obtain the real-time unwinding radius:

[0082] R4 = R5 - n1 × D1 (13)

[0083] Then the current real-time rotational speed of the yarn unwinding roll:

[0084]

[0085] Step 3, during the laying process, after the yarn breakage occurs, since there is no rotation of the wire feeding system servo motor caused by the friction of the fiber tow, when the host computer cannot receive the rotation signal w3 of the servo motor, it is considered that a yarn breakage fault occurs in the system, and the machine needs to be stopped for inspection.

[0086] Embodiment

[0087] Step 1, lead out the fiber prepreg 9 from the yarn unwinding roll 1, where the PE film 3 is collected by the film winding roll 2, and the separated fiber tow 4 passes through the buffer system 8, the clamping system 5, the refeeding system 6, and the cutting system 7 in sequence until the roller press 10.

[0088] Step 2: The host computer control system 13 is electrically connected to the servo motor 6-1, the cylinder 6-4, and the servo valve 6-5 in the rewinding system 6 respectively, and can control the rewinding system 6. The host computer system 13 is also connected to the control motors of the film take-up roll 2 and the yarn unwinding roll 1 to control their rotation speeds.

[0089] Step 3: During the printing process, for the fiber prepreg 9, continuous feeding is required. The servo valve 6-5 adjusts the pressure P1, and the cylinder 6-4 drives the pressing wheel 6-3 to press the fiber bundle 4 onto the rotating shaft 6-2. At the same time, the rotating shaft 6-2 is fixedly connected to the servo motor 6-1, and the frictional force generated by the pressing force can drive the servo motor 6-1 to rotate at a speed w3.

[0090] Step 4: The film take-up roll 2 calculates v2 according to the following control algorithm obtained from the host computer system 1-3: Among them, the rotation speed ω3 is read from the servo motor by the host computer system as a known quantity, and the rotation radius is R3, then the wire feeding speed is v3. It is necessary to ensure that the active film taking-up speed v2 = v3. The wire feeding length is:

[0091] v3 = w3 × R3

[0092] And it is necessary to ensure that the active film taking-up speed V2 = V3. The V2 is the film taking-up speed of the film take-up roll 2. Set the thickness D2 of the PE film 3, the initial radius R2 of the film take-up disc in the film take-up roll 2, the current radius R7, and within a certain time Δt, the wire feeding length L1 of the whole system is:

[0093] L1 = 2 × π × ω3 × R3 × Δt (3)

[0094] The length L2 of the PE film 3 increased by the motor of the film take-up roll 2 is: L2 = L1

[0095]

[0096] Transform Equation (4) to get:

[0097]

[0098] Combining Equation (3) and Equation (5), a binary linear equation is obtained, and by using the quadratic formula, we get:

[0099]

[0100] Among them, n2 takes the positive solution, and then the current radius R7 of the film take-up roll 2 can be obtained as R7 = R2 + n2 × D2. During the film taking-up process, the number of layers n2 of the film take-up roll 2 is the number of turns of the motor automatically calculated by the host computer system.

[0101] Then the current motor rotation speed w2 of the film take-up roll 2:

[0102]

[0103] Step 5: The yarn unwinding roll 1 calculates w1 according to the following control algorithm obtained from the host computer system 1-3: Assume that under the action of the pressing wheel, the fiber bundle rotates at a certain rotational speed ω3 relying on the fiber friction force during the laying process. The rotational speed ω3 is read from the servo motor by the host computer system and is a known quantity. The rotation radius is R3, then the wire feeding speed is:

[0104] V3 = w3 × R3 (2)

[0105] 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 rotational speed of the yarn unwinding motor:

[0106]

[0107] Among them, the real-time unwinding radius R4 is a quantity that constantly changes. Only by solving R4 can the real-time rotational speed w1 of the yarn unwinding motor be obtained.

[0108] The number of layers n1 of the remaining fiber prepreg 9 is:

[0109]

[0110] The remaining length L3 of the yarn unwinding roll 1 is:

[0111] L3 = L - L1 (10)

[0112] The remaining length L3 of the yarn unwinding roll 1 is:

[0113]

[0114] Solve Equation (11) through the quadratic formula:

[0115]

[0116] Among them, taking the positive solution of n1, the real-time unwinding radius can be obtained:

[0117] R4 = R5 - n1 × D1 (13)

[0118] Then the current real-time rotational speed of the yarn unwinding roll:

[0119]

[0120] Step 6: During the operation of the laying system, after a yarn breakage occurs, since the servo motor 6-1 has no rotation caused by the fiber bundle friction force, when the host computer system 1-3 cannot receive the rotation signal w3 of the servo motor, it is considered that a yarn breakage fault has occurred in the system, and the machine needs to be stopped for inspection to eliminate the yarn breakage fault.

[0121] Step 7, when performing fiber automatic placement again, repeat Step 1 to start fiber placement.

[0122] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more. In the description of the present invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween.

[0123] In the description of the present invention, the first feature being "above", "above" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature.

[0124] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0125] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0126] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

[0127] The foregoing 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 shall be included within the scope of protection of the present invention.

Claims

1. A control method for the active film take-up and unwind speed during the continuous fiber placement process, characterized in that, It includes the following steps: Step 1, the host computer control system (13) adjusts the winding motor speed 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 pressing wheel (6-3), the rotation speed of the pressing wheel (6-3), the initial radius of the film winding roll (2), the number of layers of the PE film (3) wound on the film winding roll (2), and the thickness of the PE film (3); the number of layers of the PE film (3) is related to the wire feeding length, the initial radius of the film winding disc 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 unwinding motor speed of the yarn unwinding roll (1) according to the wire feeding time; The unwinding motor speed of the yarn unwinding roll (1) is related to the rotation radius of the pressing wheel (6-3), the rotation speed of the pressing wheel (6-3), the initial radius of the yarn unwinding roll (1), the number of layers of the fiber pre-preg (9) wound on the yarn unwinding roll (1), and the thickness of the fiber pre-preg (9); the number of layers of the fiber pre-preg (9) wound on the yarn unwinding roll (1) is related to the thickness of the fiber pre-preg (9), the core shaft radius 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 control method for the active film take-up and unwinding speed during the continuous fiber placement process according to claim 1, characterized in that, In Step 1, the calculation formula for the motor speed w2 of the film winding roll (2) is: w2 = w3×R3 / (R2 + n2×D2) Where, ω3 is the rotation speed of the pressing wheel (6-3), R3 is the rotation radius of the pressing wheel (6-3), R2 is the initial radius of the film winding roll (2), n2 is the number of layers of the PE film (3) on the film winding roll (2), and D2 is the thickness of the PE film (3).

3. The control method for the active film take-up and unwind speed during 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: n2 = ((D2 - 2R2) ± √((D2 - 2R2) 2 + 4×D2×L1 / π)) / (2×D2) Where, D2 is the thickness of the PE film (3), R2 is the initial radius of the film winding roll (2), and L1 is the wire feeding length.

4. The control method for the active film take-up and unwinding speed during the continuous fiber placement process according to claim 1, wherein, The calculation formula for the wire feeding length is: L1 = 2×π×ω3×R3×Δt Where, ω3 is the wire feeding speed of the pressing wheel (6-3), R3 is the wire feeding radius of the pressing wheel (6-3), and Δt is the wire feeding time.

5. A control method for the active film winding and unwinding speed during the continuous fiber placement process according to claim 1, characterized in that In Step 2, the calculation formula for the unwinding motor speed is: w1 = ω3×R3 / (R5 - n1×D1) Where, ω3 is the wire feeding speed of the pressing wheel (6-3), R3 is the wire feeding radius of the pressing wheel (6-3), R5 is the initial radius of the yarn unwinding roll (1), n1 is the number of layers of the fiber pre-preg (9) wound on the yarn unwinding roll (1), and D1 is the thickness of the fiber pre-preg (9).

6. The control method for the active film take-up and unwind speed during the continuous fiber placement process according to claim 1, characterized in that The calculation formula for the number of layers of the fiber pre-preg (9) wound on the yarn unwinding roll (1) is: n1 = ((D1 - 2R6) ± √((D1 - 2R6) 2 + 4 × D1 × L3 / π)) / (2 × D1) Where, D1 is the thickness of the fiber pre-preg (9), R6 is the core shaft radius in the yarn unwinding roll (1), and L3 is the remaining length of the yarn unwinding roll (1).

7. The control method for the active film winding and unwinding speed during the continuous fiber placement process according to claim 1, wherein The calculation formula for the remaining length of the yarn unwinding roll (1) is: L3 = L - L1 Where, L is the length of the fiber pre-preg (9) wound on the yarn unwinding roll (1), and L1 is the wire feeding length.

8. The control method for the active film take-up and unwind speed during the continuous fiber placement process according to claim 1, characterized in that, During the laying process, if the host computer control system (13) fails to collect the rotation speed of the pressing wheel (6-3), it is determined that the system has a broken yarn.

9. An active film collecting and unwinding speed control system for a continuous fiber placement process for implementing the control method according to claim 1, characterized in that, It includes a yarn feeding roll (1), a film winding roll (2), a refeeding system (6), a cutting system (7) and a pressure roller (10); The yarn feeding roll (1) is wound with a fiber prepreg (9). The fiber prepreg (9) includes a composite PE film (3) and a fiber tow (4). The PE film (3) is wound and stored by the film winding roll (2), and the fiber tow (4) is transported by the refeeding system (6) to the cutting system (7) and the pressure roller (10).

10. The active film collecting and unwinding speed control system for the continuous fiber placement process according to claim 9, wherein A buffer system (8) and a clamping system (5) are arranged between the yarn feeding roll (1) and the refeeding system (6).

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