Control method and device for improving cutting and re-conveying precision of automatic fiber placement system, storage medium and computer equipment

Abstract

The invention relates to the technical field of automatic composite laying, and discloses a control method and device for improving the cutting and re-conveying precision of an automatic fiber laying system, a storage medium and computer equipment, and the control method comprises two parts of cutting precision control and re-conveying precision control. Cutting-off precision control takes the laying stop point as a reference, a cutting-off control point is determined, and cutting-off control information is generated; and when the fiber placement head reaches the point, the upper computer sends a cut-off instruction to the lower computer, and the lower computer triggers a cut-off action according to the delay time. The re-sending precision control takes the laying restart point as a reference, determines a restart control point and generates restart control information; and when the fiber placement head reaches a restart point, the upper computer sends a retransmission instruction, and the lower computer triggers a retransmission action according to the delay time. Through a precision compensation mechanism based on delay control, the problem of laying precision caused by action delay of an execution mechanism is effectively solved, and the performance of the fiber laying system is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of composite material automatic placement, and more specifically, to a control method, device, storage medium and computer equipment for improving the cutting and refeeding accuracy of an automatic fiber placement system. Background Art

[0002] The automatic fiber placement technology is a composite material automatic forming manufacturing technology in which a fiber placement head separately feeds and cuts multiple prepreg tows with a certain width from a creel, bundles them into a prepreg strip with an adjustable width under a flexible pressure roller, and lays them on the surface of a mold heated by a heating system according to a predetermined placement trajectory and compacts and shapes them, realizing the "high efficiency, high performance, and low cost" manufacturing of composite material structures, and is an important development direction of composite material automatic forming technology.

[0003] Composite materials have strong designability, and a large number of local reinforcements, layer omissions, and openings are designed on the product. During placement in this area, frequent cutting and feeding operations of the tows are required. With the gradual improvement of aircraft performance, more and more stringent requirements are put forward for the automatic placement accuracy. During the actual placement process, after the control system issues cutting and refeeding signals at the theoretical position, there is an action time for the actuators (solenoid valves, cylinders, cutters, etc.), resulting in a lag of the actual cutting and refeeding positions relative to the theoretical positions, making it difficult to meet the requirements for the cutting and refeeding accuracy of the tows.

[0004] The invention patent with the publication number of CN117774381A discloses a method, device, equipment and medium for controlling the lagged laying of an automatic fiber placement machine. By simulating the laying, the action time of the actuator is obtained, and based on the current placement speed, the lag displacement value caused by the action time of the actuator is obtained. Then, the formal processing position information is obtained through position compensation. The actual position where the cutting and refeeding signals are issued is upstream of the theoretical position where the cutting and refeeding signals are issued, and the compensation distance is the aforementioned lag displacement value. The control system issues cutting and refeeding instructions in advance to make the actual laying area completely coincide with the preset laying area, ensuring the quality of automatic fiber placement.

[0005] In the above-mentioned existing patents, the compensation distance is closely related to the laying speed. However, during the actual laying process, the operator will adjust the robot or machine tool handwheel magnification according to the laying site conditions to change the laying speed. Therefore, the actual required compensation distance in the above-mentioned patents changes with the laying speed. As a well-known technology, the automatic fiber placement system performs fiber placement operations by executing a fiber placement trajectory program. The compensation method in the above-mentioned patents is essentially a laying trajectory compensation method. The compensation distance of the point position information in the fiber placement trajectory program is specifically reflected as the forward movement distance of the point positions for sending cutting and re-sending commands along the laying path. Before laying, it is impossible to predict the running speed of the fiber placement head when it moves to the cutting and re-sending points. The uncertainty of the laying speed causes the uncertainty of the compensation distance, which in turn leads to the need for dynamic adjustment of the point position coordinate information for sending cutting and re-sending commands in the fiber placement trajectory program with the laying speed. However, the above-mentioned patents do not elaborate on the solution to the key problem of how to achieve the dynamic change of the point position coordinate information for sending cutting and re-sending commands in the fiber placement trajectory program with the actual laying speed. In addition, due to the tolerances in the processing of each channel and the different action times of the actuators in each channel, the compensation distances of each fiber bundle channel are not equal at the same running speed, and the fiber placement trajectory program is very complex. Summary of the Invention

[0006] The present invention aims to solve the problems that during the laying of multiple fiber bundles in the prior art, cutting and re-sending are lagging behind the laying and overlapping, and the point position information in the laying trajectory of the existing compensation method cannot change dynamically with the laying speed, and the compensation distances of each fiber bundle channel are different, resulting in a complex fiber placement trajectory program. The present invention proposes a control method, device, storage medium and computer equipment for improving the cutting and re-sending accuracy of the automatic fiber placement system.

[0007] In order to achieve the above-mentioned invention purpose, the technical solution of the present invention is as follows: On the one hand, the present invention discloses a control method for improving the cutting and re-sending accuracy of an automatic fiber placement system. The control method includes two aspects, including cutting accuracy control and / or re-sending accuracy control. The control logics of cutting accuracy control and re-sending accuracy control are the same. The processes involved in the two accuracy controls will be specifically introduced below.

[0008] First, as Figure 1 shown, the fiber placement head of the automatic fiber placement system is a compact device with multifunctional integration and high integration. The positions of the cutting mechanism and the laying structure are different, and the fiber bundle cutting point P does not coincide with the laying pressing point Q , and due to assembly reasons, the distances between the cutting points of each fiber bundle and the laying pressing point are not exactly the same. Denote the distance between the cutting point of the i th fiber bundle P and the laying pressing point Q as l i . Obviously, after the fiber placement head is assembled, li It is independent of the laying speed, actuator action time and other parameters and is a set of fixed values. Figure 2 As shown, i The tow needs to be at the point A 0 place to stop, at point B Obviously, without considering the action time of the cutting mechanism and the re-feeding mechanism, the control system will restart at point A 1 sends a cut-off command, at point B 1. Send a resend instruction. 、 That is l i , l i A corresponding set of values can be obtained through measurement.

[0009] Then, the known technique is used to measure the i Action time of the tow channel cutting mechanism t 1i And the action time of the re-feeding mechanism t 2i At a certain laying speed v Under the action time of the cutting mechanism, the distance the tow moves is Along the i The tow placement trajectory is based on points A 0 is the base moving distance d 1i Solstice A 2 (the direction of the laying speed is the direction of the wire laying head moving forward, point A 2 is located at point A 0 upstream direction), When laying, at A 2. The host computer sends a cut signal, and the tow is laid exactly to the point A 0. Similarly, follow the i The tow placement trajectory is based on points B 0 is the base moving distance d 2i Solstice B 2 (Similarly, the direction of the laying speed is the direction of the wire laying head, point B 2 is located at point B 0 upstream direction), When laying, at B 2. The host computer sends a resend signal, and the tow is just at B 0 is sent back to the laying equipment to continue laying. As mentioned in the background technology, the laying speed of the tow is v In dynamic changes, point A 2 and point B 2With the tow laying speed vis dynamically changing. In addition, the operating time of the cutting mechanism corresponding to each tow t 1i , the operating time of the re-feed mechanism t 2i , and the distance between the tow cutting point and the laying pressure point l i are not equal, resulting in different distances traveled when each tow is cut d 1i and when re-fed d 2i . Therefore, it is very complicated to generate the fiber placement trajectory program through offline programming.

[0010] Therefore, the present invention adopts the following solution to achieve the accuracy control of the fiber placement system when the tow is cut and the fiber placement restarts.

[0011] For the accuracy control of tow cutting, along the fiber placement trajectory of the i th tow, move a distance A 0 to point d 0 as a reference to point A 3 to obtain the position information of the cutting control point. The calculation method of the distance d 0 is as follows: Equation (1); Among them, t 1max is the maximum value of the cutting operation time of each tow t 1i ; v max is the maximum operating speed allowed by the fiber placement machine when the host computer sends a cutting instruction; l max is the maximum value of the distance between the tow cutting point and the laying pressure point of each tow; is the displacement redundancy, generally taking 1-2 mm.

[0012] Obviously, d 0 is always greater than d 1i , point A 3 is upstream of point A 2, denoted as , that is, the fiber placement machine runs to point A 3 and then runs a distance and then runs to point A 2. A 2 is calculated according to the following formula: Equation (2); Different from the prior art laying track compensation method, the present invention adopts a technical solution in which the host computer control instruction is sent in advance and the lower computer PLC executes it with a time delay. Moving backward along the laying track with point A 0 as a reference by a distance d 0 to point A 3, point A 3 corresponds to the cutting control point. Then, the host computer generates the cutting point position information and control instruction of the laying track program according to the determined cutting control point. When the wire laying head runs to point A 3, the host computer sends a cutting instruction to the lower computer. At this time, if laying is carried out according to the known technology, the wire bundle will be cut in advance, and the laying stop point of the wire bundle after laying is upstream of point A 0, which is difficult to meet the wire bundle cutting accuracy requirements. Therefore, the present invention adopts the lower computer PLC to execute the cutting signal with a time delay, and the time delay T 1i is , that is, when the wire laying head runs to point A 2, the cutting action is executed, which can ensure that the laying stop point of the wire bundle is exactly located at point A 0. At this time: Equation (3); The refeeding accuracy control compensation is similar to the cutting accuracy control compensation method, and also adopts the host computer control instruction to be sent in advance and the lower computer PLC to execute the refeeding operation with a time delay. Correspondingly, the refeeding time delay i of the T 2i th wire bundle can be expressed as: Equation (4); Among them, t 2max is the maximum value of the refeeding action time t 2i of each wire bundle.

[0013] Moreover, in order to further simplify the laying track program, the moving distances of cutting and refeeding are the same value, that is, it is set as . At this time, the calculation expression of d 0 can be further expressed as: Equation (5); In the above formula, , that is, the maximum value of the action time of the cutting mechanism and the action time of the refeeding mechanism.

[0014] Therefore, the cutting time delay T 1i and the refeeding time delay T 2i can be further expressed as: Formula (6).

[0015] The following takes the i th fiber bundle stopping laying at point A 0 and restarting laying at point B 0 as an example. The specific steps of the cutting and refeeding accuracy compensation method of the present invention are as follows: Step1: Test the action time of the cutting mechanism of each fiber bundle t 1i and the action time of the refeeding mechanism t 2i , and then take the maximum value among them t max ; Step2: Test the distance from the cutting point to the laying pressing point of each fiber bundle l i , and take the maximum value among them l max ; Step3: Substitute t max , l max , v max and into formula (5) to calculate the moving distance d 0 for cutting accuracy control or refeeding accuracy control; Step4: Move along the laying trajectory by a distance A 0 with point d 0 as the reference to point A 3, or move by a distance B 0 with point d 0 as the reference to point B 3, and then generate the cutting point position information and control instructions or refeeding point position information and control instructions of the laying trajectory program; Step5: When the wire laying head runs to point A 3 or point B 3, the upper computer sends a cutting instruction or a refeeding instruction to the lower computer; Step6: Obtain the wire laying speed A 3 of the fiber bundle when the wire laying machine runs to point B 3 or point v , and calculate the cutting delay time T 1i or the refeeding delay time T 2i according to formula (6); Step7: The lower computer PLC determines according to the cutting delay time T1i or the refeeding delay time T 2i , send a cutting signal at Step5 T 1i Only after a certain time, trigger the cutting mechanism to act, or send a refeeding signal at Step5 T 2i Only after a certain time, trigger the refeeding mechanism to act.

[0016] When the cutting mechanism acts, the fiber tow is cut at the laying stop point A 0.

[0017] When the refeeding mechanism acts, the cut fiber tow is re-fed into the fiber placement equipment at the laying restart point B 0 and continue the laying.

[0018] Furthermore, the value of the displacement redundancy is usually 1-2mm.

[0019] Based on the same inventive concept, on the other hand, the present invention also discloses a control device for improving the cutting and refeeding accuracy of an automatic fiber placement system. The device is used to implement the above control method for improving the cutting and refeeding accuracy of the automatic fiber placement system, including: A host computer, which is used to determine the cutting control points along the laying trajectory with the laying stop point as a reference respectively, and then generate the cutting control information of the laying trajectory program according to the cutting control points; or determine the laying restart control points with the laying restart point as a reference, and then generate the laying restart control information of the laying trajectory program according to the laying restart control points; and, when the fiber placement head runs to the cutting control point, send a cutting instruction to the slave computer, or when the fiber placement head runs to the laying restart control point, send a refeeding instruction to the slave computer; A slave computer, which is used to delay and trigger the cutting mechanism to act according to the cutting delay time after the host computer sends a cutting instruction, or delay and trigger the refeeding mechanism to act according to the refeeding delay time after the host computer sends a refeeding instruction; A cutting mechanism, which receives the trigger signal from the slave computer and cuts the fiber tow when it acts; A refeeding mechanism, which receives the trigger signal from the slave computer and re-feeds the cut fiber tow into the fiber placement equipment to continue the laying when it acts.

[0020] Furthermore, on yet another aspect, the present invention discloses a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above control method for improving the cutting and refeeding accuracy of the automatic fiber placement system is implemented.

[0021] Furthermore, on another aspect, the present invention also discloses a computer device, including a memory, a processor, and a computer program stored on the memory and executable in the processor. When the processor executes the computer program, the control method for improving the cutting and refeeding accuracy of the automatic fiber placement system is implemented.

[0022] Advantages of the present invention: 1. Through the technical solution of the host computer control instruction being sent in advance and the lower computer PLC delaying the execution of the corresponding cutting or refeeding operation, the present invention solves the problem of lagging laying during cutting and refeeding in the multi-tow placement of the prior art. At the same time, it also simplifies the laying trajectory program point information and control instructions, significantly improving the cutting and refeeding accuracy of the automatic fiber placement system.

[0023] 2. The present invention proposes a technical solution in which the host computer control instruction is sent in advance and the lower computer PLC delays the execution of the corresponding cutting or refeeding operation, and the delay time can be dynamically adjusted according to the laying speed, getting rid of the dependence of the compensation accuracy on the laying trajectory program, enhancing the adaptability and flexibility of the system, and enabling the system to better cope with the situation of laying speed changes.

[0024] 3. By precisely controlling the timing of the cutting and refeeding actions, the present invention reduces the laying accuracy problems caused by the action delay of the actuator, reduces the equipment failure rate, and improves the overall performance and reliability of the automatic fiber placement system.

[0025] 4. The cutting and refeeding accuracy compensation of the present invention adopts the same forward movement distance, simplifying the laying trajectory program point information and control instructions.

[0026] 5. The present invention improves the cutting and refeeding accuracy of the automatic fiber placement system, helps to improve the manufacturing quality of composite products, meets the stringent requirements of high-end manufacturing industries such as aircraft for automatic laying accuracy, and promotes the development of composite automatic laying technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The foregoing and following specific descriptions of the present invention become clearer when read in conjunction with the following drawings, in which: Figure 1 is a schematic diagram of the cutting and refeeding structure of the laying head of the present invention; Figure 2 is a schematic diagram of the cutting and refeeding accuracy compensation of the present invention.

[0028] In the figure: 1. Tow; 2. Cutting mechanism; 3. Refeeding mechanism; 4. Laying mechanism; 、Tow cutting point; 、Laying pressure point; A 0. Laying abort point; A1. Theoretical sending position of cutting signal without considering the action time of the cutting mechanism; A 2. Theoretical sending position of cutting signal considering the action time of the cutting mechanism; A 3. Actual sending position of cutting signal in the fiber placement trajectory program; B 0. Restart laying point; B 1. Theoretical sending position of rewinding signal without considering the action time of the rewinding mechanism; B 2. Theoretical sending position of rewinding signal considering the action time of the rewinding mechanism; B 3. Actual sending position of rewinding signal in the fiber placement trajectory program. Specific implementation mode

[0029] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will further illustrate the technical solutions for achieving the purpose of the present invention through specific embodiments. It should be noted that the technical solutions claimed in the present invention include, but are not limited to, the following embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] A certain type of fiber placement machine can meet the simultaneous placement requirements of 16 tows. Among them, v max are the performance parameters of the fiber placement machine and are fixed values related to the fiber placement machine. Taking this type of fiber placement machine as an example, combined with a control method for improving the cutting and rewinding accuracy of an automatic fiber placement system proposed by the present invention, the accuracy of the cutting or rewinding process of this fiber placement machine is controlled. Specifically as follows: Step1: Test the action time of the cutting mechanism for each tow t 1i and the action time of the rewinding mechanism t 2i , and take the maximum value among them t max ; Step2: Test the distance from the cutting point of each tow P to the laying pressure point Q respectively l i , and obtain the maximum value among them l max ; Step3: Substitute t max , l max , v max and into the following calculation formula to obtain the forward movement distance d 0; Formula (5); Step4: Move along the laying track by a distance d 0 respectively with the laying stop point as the reference to obtain the position of the cutting control point, and then generate the cutting point position information and control instructions of the laying track program; or move by a distance d 0 with the laying restart point as the reference to obtain the position of the laying restart control point, and then generate the laying restart point position information and control instructions of the laying track program; Step5: When the wire laying head runs to the cutting control point or the laying restart control point, the upper computer sends a cutting signal or a re-sending signal to the lower computer according to the point position information in the laying track program; Step6: Obtain the wire bundle laying speed when the wire laying machine runs to the cutting control point or the laying restart control point v , and then calculate the cutting delay time according to the following formula T 1i or the re-sending delay time T 2i ; ; ; Step7: The lower computer PLC delays the execution of the cutting instruction or the re-sending instruction sent by the upper computer according to the combined cutting delay time T 1i or the re-sending delay time T 2i , that is, delays the triggering of the cutting mechanism or the re-sending mechanism to act. Specifically, when the cutting signal T 1i is sent in Step5 T 2i time or the re-sending signal, the lower computer then controls the cutting mechanism or the re-sending mechanism to act, triggering the corresponding cutting action or re-sending action. When controlling the cutting mechanism to act, the cutting mechanism cuts the wire bundle; when controlling the re-sending mechanism to act, the re-sending mechanism re-inserts the cut fiber wire bundle into the wire laying equipment and continues the laying.

[0031] Furthermore, the embodiment of the present invention also provides a control device for improving the cutting and re-sending accuracy of the automatic wire laying system. Since the principle of the control device for solving the problem is similar to that of the control method for improving the cutting and re-sending accuracy of the automatic wire laying system, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again. Although the control device described in the following embodiments is preferably implemented in software, the implementation in hardware, or a combination of software and hardware is also possible and contemplated. The control device may include: an upper computer, a lower computer, a cutting mechanism, and a re-sending mechanism; wherein, The host computer is used to determine the cutting control points respectively based on the laying stop points along the laying track, and then generate the cutting control information of the laying track program according to the cutting control points; or determine the laying restart control points based on the laying restart points, and then generate the laying restart control information of the laying track program according to the laying restart control points; and, when the wire laying head runs to the cutting control point, send a cutting instruction to the lower computer, or when the wire laying head runs to the laying restart control point, send a refeeding instruction to the lower computer; The lower computer is used to delay the triggering of the cutting mechanism according to the cutting delay time after the host computer sends a cutting instruction, or delay the triggering of the refeeding mechanism according to the refeeding delay time after the host computer sends a refeeding instruction; The cutting mechanism receives the trigger signal from the lower computer and cuts the wire bundle when it operates; The refeeding mechanism receives the trigger signal from the lower computer and refeeds the cut fiber wire bundle into the wire laying device to continue laying when it operates.

[0032] It should be noted that the systems, devices, models or units described in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. For the convenience of description, in this specification, when describing the above systems, various units are described separately according to their functions. Of course, when implementing the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0033] Furthermore, another aspect of the embodiments of the present invention also provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the methods in the above embodiments are implemented.

[0034] Still further, another aspect of the embodiments of the present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable in the processor. When the processor executes the computer program, the methods in the above embodiments are implemented.

[0035] In the embodiments described in the present invention, the processor can be a Central Processing Unit (CPU). The processor can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or a combination of the above types of chips.

[0036] Moreover, as a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs, and units, such as the corresponding program units in the method embodiments of the present invention described above. By running the non-transitory software programs, instructions, and modules stored in the memory, the processor can execute various functional applications and work data processing of the processor, that is, implement the methods in the method embodiments described above.

[0037] The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor and the like. In addition, the memory may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely provided with respect to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The one or more units are stored in the memory and, when executed by the processor, execute the methods in the above embodiments.

[0039] The above description is only a preferred embodiment of the present invention and does not impose any form of limitation on the present invention. Any simple modification or equivalent change made to the above embodiments based on the technical essence of the present invention falls within the protection scope of the present invention.

Claims

1. A control method for improving the cutting and refeeding accuracy of an automated fiber placement system, characterized in that, The method includes cutting accuracy control and / or refeeding accuracy control; wherein, The cutting accuracy control determines a cutting control point based on the laying pause point, and then generates cutting control information for the laying trajectory program according to the cutting control point; when the wire laying head runs to the cutting control point, the upper computer sends a cutting instruction to the lower computer, and then the lower computer delays and triggers the action of the cutting mechanism based on the cutting delay time; The refeeding accuracy control determines a laying restart control point based on the laying restart point, and then generates laying restart control information for the laying trajectory program according to the laying restart control point; when the wire laying head runs to the laying restart control point, the upper computer sends a refeeding instruction to the lower computer, and then the lower computer delays and triggers the action of the refeeding mechanism based on the refeeding delay time.

2. The control method for improving the cutting and refeeding accuracy of an automatic fiber placement system according to claim 1, wherein Moving distance based on the laying stop point d 0 obtains the cutting control point, d The calculation method of 0 is as follows: ； Among them, t max is the maximum value of the action time of the tow channel cutting mechanism and the action time of the refeeding mechanism; v max is the maximum allowable operating speed of the fiber placement machine when the upper computer sends cutting and refeeding instructions; is the displacement redundancy; l max is the maximum value of the distance between the tow cutting point and the placement pressing point.

3. The control method for improving the cutting and refeeding accuracy of the automatic fiber placement system according to claim 1, characterized in that, The calculation method of the cutting delay time is as follows: ； Among them, T 1i is the cut-off delay time; t max is the maximum value of the action time of the tow cutting mechanism and the action time of the re-feed mechanism; v max is the maximum allowable running speed of the fiber placement machine when sending cut-off and re-feed commands; is the displacement redundancy; l max is the maximum value of the distance between the tow cutting point and the placement pressing point; l i is the i distance between the cutting point of the v is the tow placement speed at the cut-off control point; t 1i is the i action time of the cutting mechanism of the th tow channel.

4. The control method for improving the cutting and refeeding accuracy of an automatic fiber placement system according to claim 1, wherein The calculation method of the refeeding delay time is as follows: ； Among them, T 2i is the re-feed delay time; t max is the maximum value of the movement time of the tow cutting mechanism and the movement time of the re-feed mechanism; v max is the maximum allowable running speed of the fiber placement machine when sending cutting and re-feed commands; is the displacement redundancy; l max is the maximum value of the distance between the tow cutting point and the placement pressing point; l i is the i distance between the cutting point of the v is the fiber placement speed at the cutting control point; t 2i is the i movement time of the re-feed mechanism for the th tow channel.

5. The control method for improving the cutting and refeeding accuracy of the automatic fiber placement system according to claim 1, wherein When the cutting mechanism acts, the fiber bundle is cut at the laying pause point.

6. The control method for improving the cutting and refeeding accuracy of an automatic fiber placement system according to claim 1, characterized in that, When the refeeding mechanism acts, the cut fiber bundle is re-fed into the wire laying equipment at the laying restart point and continues to be laid.

7. The control method for improving the cutting and refeeding accuracy of the automatic fiber placement system according to claim 2, characterized in that, The value of the displacement redundancy is 1-2 mm.

8. A control device for improving the cutting and refeeding accuracy of an automatic fiber placement system, the control device being used to implement the control method for improving the cutting and refeeding accuracy of the automatic fiber placement system according to any one of the above-mentioned claims 1-7, characterized in that, It includes: An upper computer, which is used to determine a cutting control point based on the laying pause point along the laying trajectory respectively, and then generate cutting control information for the laying trajectory program according to the cutting control point; or determine a laying restart control point based on the laying restart point, and then generate laying restart control information for the laying trajectory program according to the laying restart control point; And, it is used to send a cutting instruction to the lower computer when the wire laying head runs to the cutting control point, or send a refeeding instruction to the lower computer when the wire laying head runs to the laying restart control point; A lower computer, which is used to delay and trigger the action of the cutting mechanism according to the cutting delay time after the upper computer sends a cutting instruction, or delay and trigger the action of the refeeding mechanism according to the refeeding delay time after the upper computer sends a refeeding instruction; A cutting mechanism, which receives the trigger signal from the lower computer and cuts the fiber bundle when it acts; A refeeding mechanism, which receives the trigger signal from the lower computer and re-feeds the cut fiber bundle into the wire laying equipment when it acts and continues to be laid.

9. A storage medium, characterized in that, On which a computer program is stored, when the computer program is executed by a processor, it realizes the control method for improving the cutting and refeeding accuracy of the automatic fiber placement system according to any one of claims 1-7 above.

10. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and operable in the processor. When the processor executes the computer program, it realizes the control method for improving the cutting and refeeding accuracy of the automatic fiber placement system according to any one of claims 1-7 above.

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