A servo motor control method for an automatic carbon fiber layup equipment

Abstract

This invention relates to the field of intelligent sensor technology, specifically to a servo motor control method for an automatic carbon fiber layup device. The method includes: determining various tensioning actions of the carbon fiber yarn using its tension curve; determining the tension state fluctuation factor of the target tensioning action using tension data from the target tensioning action; further determining the tension distribution uniformity of the carbon fiber yarn using each tension state fluctuation factor; determining two sequences from a uniformity difference sequence of tension distribution uniformity using the uniformity of tension distribution of each carbon fiber yarn; determining one sequence as the sequence to be adjusted using the average uniformity difference of each of the two sequences; and determining the target speed of the target servo motor using the uniformity difference value in the sequence to be adjusted. Through the technical solution of this invention, targeted servo motor speed control can be achieved based on the real-time fluctuations in the tension of the carbon fiber yarn, thereby improving the quality and stability of carbon fiber yarn weaving.

Description

Technical Field

[0001] This invention relates to the field of intelligent sensor technology, and specifically to a servo motor control method for an automatic carbon fiber layup equipment. Background Technology

[0002] Given the excellent properties of carbon fiber, its application in the aerospace field is becoming increasingly widespread. A new type of automatic carbon fiber layup equipment has emerged, which can efficiently lay up complex curved surfaces. Through intelligent sensors, the tension of the carbon fiber bundle unwinding can be obtained, which is an important process parameter that directly affects the layup effect.

[0003] Currently, tension control in the fiber placement field is mainly semi-closed-loop control. During fiber placement, the tension of carbon fibers cannot be dynamically adjusted in real time, resulting in material waste and high time costs for finished product inspection and repair. Existing carbon fiber unwinding tension control cannot actively adjust the tension. If the system detects insufficient tension during automatic fiber placement, it cannot automatically adjust it through precise reverse motion, resulting in adjustment lag. The number of controllers required in multi-bundle fiber placement also increases, leading to more communication, power, and sensor circuitry. Current technologies rely on stacking controllers and adjusting calibration curves to achieve tension range control. However, this method lacks uniformity in tension control for multi-bundle fiber placement, easily causing uneven tension between different bundles and affecting the stability and quality of the fiber weave structure. Summary of the Invention

[0004] To address the technical problem of insufficient tension control in the carbon fiber placement process, leading to low stability and quality of the fiber weaving structure, the present invention aims to provide a servo motor control method for an automatic carbon fiber placement device. The specific technical solution adopted is as follows:

[0005] This invention provides a servo motor control method for an automatic carbon fiber layup device, the method comprising:

[0006] The tension curve of the carbon fiber filament is used to determine each tensioning action of the carbon fiber filament, and the tension fluctuation factor of the target tensioning action is determined by the tension data in the target tensioning action.

[0007] The tension distribution uniformity of carbon fiber filaments is determined by the tension fluctuation factor of carbon fiber filaments during various tensioning actions.

[0008] The tension distribution uniformity of each carbon fiber filament is used to determine the tension distribution uniformity difference sequence and divide it into two-sided sequences.

[0009] The average value of the balance difference between the two sequences is used to determine one of the sequences as the sequence to be adjusted, and the target speed of the target servo motor is determined by the balance difference value in the sequence to be adjusted.

[0010] Furthermore, the determination of various tensioning actions of the carbon fiber filament using the tension curve of the carbon fiber filament includes:

[0011] By identifying adjacent maxima in the tension curve of the carbon fiber filament, and using the minimum value between adjacent maxima as the endpoint, the tension curve is split to obtain the individual tensioning actions of the carbon fiber filament.

[0012] Furthermore, the step of determining the tension state fluctuation factor of the target tensioning action using tension data during the target tensioning action includes:

[0013] Determine the maximum tension value, the initial tension value, and the duration of the target tensioning action during the target tensioning action;

[0014] By using the tension difference and duration between the maximum tension value and the initial tension value of the action, the tension state fluctuation factor of the target tensioning action is determined.

[0015] Furthermore, the determination of the tension state fluctuation factor of the target tensioning action by utilizing the tension difference and duration between the maximum tension value and the initial tension value of the action includes:

[0016] Determine the first ratio between the tension difference and the duration, and determine the second ratio between the maximum tension and the average tension during the target tensioning action;

[0017] Using the first ratio and the second ratio, the tension state fluctuation factor of the target tensioning action is determined.

[0018] Furthermore, the determination of the tension distribution uniformity of the carbon fiber filament using the tension fluctuation factor of the carbon fiber filament during each tensioning action includes:

[0019] Determine the current tension fluctuation factor of the carbon fiber filament during the tensioning action at the current moment and the minimum tension fluctuation factor during all tensioning actions.

[0020] The tension distribution uniformity of carbon fiber filaments is determined by utilizing the difference in fluctuation factors between the current tension fluctuation factor and the minimum tension fluctuation factor.

[0021] Furthermore, determining the tension distribution uniformity of the carbon fiber filament by utilizing the difference in fluctuation factors between the current tension fluctuation factor and the minimum tension fluctuation factor includes:

[0022] Determine the ratio of the fluctuation factor difference of the carbon fiber filament to the standard deviation of the fluctuation factor of the tension state for all tensioning actions;

[0023] The tension distribution uniformity of the carbon fiber filaments is determined by using the fluctuation factor ratio and the number of all tensioning actions.

[0024] Furthermore, the step of determining the tension distribution uniformity difference sequence using the tension distribution uniformity of each carbon fiber filament and dividing it into two-sided sequences includes:

[0025] The tension distribution uniformity sequence is determined by utilizing the tension distribution uniformity of each carbon fiber filament.

[0026] Using the minimum balance degree in the balance degree sequence as the endpoint, the difference between the two sides of the balance degree sequence is obtained.

[0027] Further, the step of determining one side of the sequence as the sequence to be adjusted by using the mean difference in balance between the two sides of the sequence includes:

[0028] Determine the mean of the balance difference between the two sequences and the variance of the balance of tension distribution of all carbon fiber filaments;

[0029] By using the balance ratio between the balance difference and the balance variance of the tension distribution, one side of the sequence is determined as the sequence to be adjusted.

[0030] Further, determining one side of the sequence as the sequence to be adjusted by using the balance ratio between the balance difference and the variance of the tension distribution balance includes:

[0031] Determine the sequence length ratio between the longer and shorter sequences in the two-sided sequences;

[0032] Using the balance ratio and the sequence length ratio, the tension direction factor of the two sequences is determined;

[0033] Using the positive or negative sign of the tension direction factor, one side of the sequence is determined as the sequence to be adjusted.

[0034] Further, determining the target speed of the target servo motor using the balance difference value in the sequence to be adjusted includes:

[0035] Determine the difference ratio between the target difference value corresponding to the target carbon fiber filament in the sequence to be adjusted and the mean difference value of the balance difference in the sequence to be adjusted;

[0036] Determine the reference servo motor speed corresponding to the maximum tension distribution uniformity in the carbon fiber filament and the initial motor speed of the target servo motor corresponding to the target carbon fiber filament;

[0037] The target speed of the target servo motor is determined by using the differential ratio, tension direction factor, reference servo motor speed, and initial motor speed.

[0038] The present invention has the following beneficial effects:

[0039] This invention addresses the tension states of different filaments (or spools) generated during the carbon fiber weaving process, identifying abnormal tension states between individual filaments. Furthermore, it calculates servo motor speed control parameters based on the diffusion ratio of abnormal states arising from the overlapping distribution of carbon fiber filaments. Ultimately, it achieves targeted servo motor speed regulation based on real-time fluctuations in the tension of carbon fiber filaments, thereby improving the quality and stability of carbon fiber weaving. Attached Figure Description

[0040] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating the steps of a servo motor control method for an automatic carbon fiber layup device according to an embodiment of the present invention;

[0042] Figure 2 This is a detailed flowchart of step S1 in a servo motor control method for an automatic carbon fiber layup device according to an embodiment of the present invention.

[0043] Figure 3 This is a detailed flowchart of step S2 in a servo motor control method for an automatic carbon fiber layup device provided in an embodiment of the present invention.

[0044] Figure 4 This is a detailed flowchart of step S3 in a servo motor control method for an automatic carbon fiber layup device provided in an embodiment of the present invention.

[0045] Figure 5 This is a detailed flowchart of step S4 in a servo motor control method for an automatic carbon fiber layup device according to an embodiment of the present invention.

[0046] Figure 6This is a detailed flowchart of step S42 in a servo motor control method for an automatic carbon fiber layup device according to an embodiment of the present invention.

[0047] Figure 7 This is a schematic diagram of the hardware operating environment of the servo motor control device of the automatic carbon fiber placement equipment involved in the embodiments of the present invention. Detailed Implementation

[0048] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a servo motor control method for an automatic carbon fiber placement device proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0050] The specific scheme of the servo motor control method for an automatic carbon fiber layup device provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0051] Example 1:

[0052] For the servo motor control method of the automatic carbon fiber layup equipment provided by this invention, please refer to [link / reference]. Figure 1 The diagram illustrates a flowchart of the servo motor control method for an automatic carbon fiber placement device according to an embodiment of the present invention.

[0053] The servo motor control method of the automatic carbon fiber placement equipment includes:

[0054] Step S1: Use the tension curve of the carbon fiber filament to determine each tensioning action of the carbon fiber filament, and use the tension data in the target tensioning action to determine the tension state fluctuation factor of the target tensioning action.

[0055] This embodiment applies to an automated carbon fiber placement equipment. The installation method of the servo motor control system for the automated carbon fiber placement equipment can be as follows:

[0056] By using servo motors instead of traditional magnetic powder brakes, servo motors have a low failure rate and stable operation, reducing production and maintenance costs.

[0057] A tension sensor is added to the servo motor control system to achieve full closed-loop control through tension feedback. If the tension is too low during the unwinding (silk roll) process, the servo motor is controlled to move in the opposite direction to achieve rapid and autonomous adjustment.

[0058] By utilizing a mechanical structure that integrates the servo controller and the motor, the motor communication and power lines of all the filament bundles are connected in series at the remote end. At the same time, a distributed analog quantity module is added at the remote end to connect to the feedback value of the tension sensor, reducing the wiring problem of multiple filament bundles.

[0059] Tension sensors are installed on the shaft of carbon fiber spools, i.e., spools. As the filaments on the spools are continuously pulled into the weaving equipment, the spools rotate, releasing more filaments. Therefore, the stronger the tension of the carbon fiber filaments, the greater the tendency to pull the spools. Thus, the results of the spools are judged by monitoring the tension. The unit of tension is Newtons (N).

[0060] The output shaft of the servo motor is connected to the placement shaft of the wire roll via a disconnectable coupling, thereby enabling the servo motor to control the tension of the wire roll rotation. At the same time, the servo motor can be disconnected in time to prevent excessive tension from burning out the motor and causing damage.

[0061] The tension sensor transmits the sensor data detected at a single moment to the controller. The controller has an integrated computing unit and clock. The computing unit processes the collected data and outputs a control signal to control the speed of the servo motor, thereby adjusting the speed of the yarn roll and achieving the purpose of adjusting the tension.

[0062] Furthermore, the signal frequencies of the tension sensor and the servo motor can be synchronized:

[0063] The integrated clock within the controller outputs time pulses with a frequency of [frequency value missing]. Thus, the tension sensor at each current moment The current tension monitoring value F is transmitted to the controller. t At the same time, the controller also outputs a corresponding control level Y. t As the output frequency of the controller, it is used to control and adjust the parameters of the servo motor.

[0064] Based on the tension monitoring values ​​at various times, the corresponding tension curves and tension data time series are obtained.

[0065] The carbon fiber weaving process is then analyzed: controlling the tension of the spool is crucial to ensuring the stability of the carbon fiber woven structure. The overlapping distribution of carbon filaments constitutes the specific structure of the carbon fiber woven material. The filaments on the spool are pulled, causing the spool to move passively. The unevenness of the acceleration and deceleration of this movement affects the tension changes of the carbon fiber filaments. As a result, after the adhesive resin on the weaving surface cures, the local tension distribution is uneven, which affects the uniformity of local carbon fiber distribution in the finished carbon fiber product (such as excessively large voids, cracks, and burrs), thus affecting the strength of the material.

[0066] Therefore, during the weaving process, when the threads overlap, they exert pressure on each other, resulting in static friction between the threads. As a result, the threads are constantly pulled from the spool, and the tension is transmitted from the threads to the spool, causing the spool to change its movement trend and affecting the spool's movement resistance. Therefore, it is necessary to evaluate and analyze the range of tension variation of the spool corresponding to a single thread.

[0067] Specifically, step S1, which uses the tension curve of the carbon fiber filament to determine each tensioning action of the carbon fiber filament, includes:

[0068] By identifying adjacent maxima in the tension curve of the carbon fiber filament, and using the minimum value between adjacent maxima as the endpoint, the tension curve is split to obtain the individual tensioning actions of the carbon fiber filament.

[0069] For any single thread, if there are more tension impacts and higher pulling force during the movement, it indicates that the current thread's tension adjustment speed is faster than that of other threads. Therefore, the tension state of the thread can be judged by the trend of the tension fluctuation state monitored.

[0070] In this embodiment, the trend of change in thread tension is first extracted:

[0071] The tension of the thread is determined by the fluctuation of the tension curve. The peak position of the tension is extracted as the position where the tension force is highest in a short period of time. Combined with subsequent tension changes, the determination of a single tensioning action is made.

[0072] Up to the current pulse moment, the tension monitoring curve of the carbon fiber filament at the current moment, i.e., the tension curve, and the corresponding tension sequence are obtained. The maximum value in the tension curve up to the current moment is found by using AMPD (Automatic Multiscale Peak Detection). The minimum value of the tension sequence / curve between two adjacent maximum values ​​is taken as the endpoint to separate the tension curve and the tension sequence. The intervals before and after this endpoint correspond to the maximum values ​​before and after, respectively, thus decomposing each tensioning action of the filament.

[0073] Specifically, please refer to Figure 2 Step S1, which uses tension data from the target tensioning action to determine the tension state fluctuation factor of the target tensioning action, includes:

[0074] Step S11: Determine the maximum tension value, the initial tension value, and the duration of the target tensioning action during the target tensioning action;

[0075] Step S12: Using the tension difference and duration between the maximum tension value and the initial tension value of the action, determine the tension state fluctuation factor of the target tensioning action.

[0076] More specifically, step S12 includes:

[0077] Determine the first ratio between the tension difference and the duration, and determine the second ratio between the maximum tension and the average tension during the target tensioning action;

[0078] Using the first ratio and the second ratio, the tension state fluctuation factor of the target tensioning action is determined.

[0079] In this embodiment, the segments derived from the tension curve of the above embodiment (each segment corresponding to a tensioning action) represent a tensioning action generated by the carbon fiber filament, thereby maximizing the tension in any tensioning action a (as the target tensioning action). As a result of the thread being pulled, the faster it reaches its maximum tension, the faster the thread's tension changes. Furthermore, the degree to which the thread maintains tension after being stretched indicates whether a stable tension has been applied to the thread.

[0080] Therefore, the tension fluctuation factor for a single tensioning action 'a' is calculated. :

[0081]

[0082] In the formula:

[0083] For tensioning action a, the maximum tension value Tension difference with the initial tension value of the action The duration of the tensioning action a The larger the ratio (first ratio), the greater the change in yarn tension exhibited by the tensioning action a, thus reflecting the higher the traction tendency of the single tension on the yarn roll, and the more likely the yarn roll is to make actions inconsistent with the current weaving process (such as not releasing yarn leading to yarn breakage, or releasing too much yarn leading to weaving structure disorder).

[0084] The second ratio is the ratio of the maximum tension to the average tension during tensioning action a. It is used to determine the distribution of tension during tensioning action a. The larger the ratio, the more significant the deviation of the maximum tension during tensioning action a. This indicates that the tension fluctuation in this tensioning state is more obvious, the stability of the tension value is not high, and the uneven fluctuation of the yarn tension leads to greater tension fluctuation in the yarn portion woven into the structural area. Normally, it is not 0. If there is an extreme case where it is the denominator of 0, a minimum value c can be added, such as c = 0.000001, to avoid the denominator being 0. norm() represents the normalization function, and its range is [0,1].

[0085] It should be noted that, for ease of calculation, all indicator data involved in the calculation in this embodiment of the invention have undergone data preprocessing to eliminate the influence of dimensions. The specific methods for eliminating the influence of dimensions are well known to those skilled in the art and are not limited here.

[0086] The tension fluctuation factor of each tensioning action of the current yarn / spindle is calculated using the above method, and then the tension fluctuation factor of each tensioning action corresponding to all current yarns / spindles is further calculated.

[0087] Step S2: Determine the tension distribution uniformity of the carbon fiber filament using the tension fluctuation factor of the carbon fiber filament during each tensioning action.

[0088] In this embodiment, the actual size of the woven item and the abnormal distribution of local tension are judged during the weaving process. In the actual woven structure output, the woven item is spread out in a specific direction by multiple threads, resulting in loose overlap between the threads and large fluctuations in overlap tension. Therefore, the tension of the motors at each position is controlled by combining the weaving sequence with the effectiveness of the weaving tension and the dynamic overlapping situation of the weaving to prevent tension overflow in the tension concentration area.

[0089] Obtain the order in which the threads of the carbon fiber are placed (the order of the threads is fixed, such as warp and weft weaving).

[0090] Regarding the weaving sequence, adjacent filaments are mounted on the spool. Therefore, the tension fluctuation between filaments caused by the mismatch between the tension of one carbon fiber filament and the tension of the surrounding filaments is extracted. The proximity between the tensioning action of one filament and the tensioning action of the other filaments is extracted, and the evolution of the tensioning action is used to evaluate the necessity of tension adjustment for each filament.

[0091] Specifically, please refer to Figure 3 Step S2 includes:

[0092] Step S21: Determine the current tension fluctuation factor of the carbon fiber filament during the tensioning action at the current moment and the minimum tension fluctuation factor during all tensioning actions.

[0093] Step S22: Determine the tension distribution uniformity of the carbon fiber filament by utilizing the difference in fluctuation factors between the current tension fluctuation factor and the minimum tension fluctuation factor.

[0094] More specifically, step S22 includes:

[0095] Determine the ratio of the fluctuation factor difference of the carbon fiber filament to the standard deviation of the fluctuation factor of the tension state for all tensioning actions;

[0096] The tension distribution uniformity of the carbon fiber filaments is determined by using the fluctuation factor ratio and the number of all tensioning actions.

[0097] To assess the effectiveness of the weaving tension, the concentrated area of ​​the tension state factor of the weaving and the diffusion of abnormal tension state of the surrounding yarns are extracted at a single moment to determine the maximum distribution of weaving tension.

[0098] In this embodiment, up to the current time t, the tensioning action a and its tensioning state factor are obtained. Assess the balance of the current tension fluctuation factor. (Tension distribution uniformity) is used to assess the anomaly of the tension of a single wire at the current moment, and to set the initial control parameters of the servo motor.

[0099] For any r-th carbon fiber filament, the uniformity ,have:

[0100]

[0101] In the formula: The tension fluctuation factor of tensioning action 'a' at the current moment. (Here, denoted as the current tension fluctuation factor) and the minimum value of the state factor corresponding to the cumulative action of the current thread. The difference in fluctuation factors between (i.e., the minimum tension fluctuation factor of all tensioning actions) and the standard deviation of the tension fluctuation factor of all tensioning actions in the current yarn. The negative cube of the ratio (fluctuation factor ratio) amplifies the numerical difference. A larger value in this formula indicates higher stability of the output. Since the thread always has tension, this means fewer drastic tension changes occur. The difference between the current tensioning action 'a' and the tensioning action of stable tension is smaller, indicating a more balanced and stable tension of the current thread. Furthermore, This represents the total number of tensioning actions for the r-th carbon fiber filament, where 'a' represents the sequence number of each tensioning action. The standard deviation of the tension fluctuation factor is used as the denominator in the above formula. The value is not zero. In extreme cases, the aforementioned minimum value c can be set to avoid the denominator being zero. This minimum value is set for all embodiments where the denominator may be zero, and will not be elaborated further hereafter.

[0102] Furthermore, by iterating through all tensioning actions 'a' on each current wire, the tension distribution uniformity 'j' of each wire can be obtained:

[0103] Furthermore, it is possible to analyze the deviations and uniformity of each balance, thereby pre-adjusting the tension of the servo motor's rotation under initial tension.

[0104] Step S3: Determine the tension distribution uniformity difference sequence using the tension distribution uniformity of each carbon fiber filament and divide it into two side sequences.

[0105] Specifically, please refer to Figure 4 Step S3 includes:

[0106] Step S31: Determine the tension distribution balance sequence using the tension distribution balance of each carbon fiber filament.

[0107] Step S32: Using the minimum balance degree in the balance degree sequence as the endpoint, perform difference on both sides of the balance degree sequence to obtain the two side sequences of the balance degree difference sequence.

[0108] In this embodiment, the minimum balance value of the silk thread at the current moment is obtained. (i.e., the thread corresponding to minimum balance) Starting from the beginning (endpoint), the balance of the remaining threads is obtained on both sides (in the order of the weaving of the threads), resulting in a balance variation curve (the horizontal axis is the number of the thread roll / thread r, and the vertical axis is the balance j) and a balance sequence sorted by the thread number for each balance.

[0109] Extract the minimum balance degree in the balance degree sequence as the endpoint, and perform difference on both sides of the balance degree sequence (subtract the one closer to the endpoint from the one farther away from the endpoint. For example, in the sequence 1, 2, 3, 4, 5, 6, 7, where 5 is the endpoint, the difference method is 1-2, 2-3, 3-4, 4-5, 6-5, 7-6). This gives the two sides of the balance degree difference sequence. In this example, it is divided into two sides: (1-2, 2-3, 3-4, 4-5) and (6-5, 7-6).

[0110] Step S4: Use the mean of the balance difference between the two sequences to determine one of the sequences as the sequence to be adjusted, and use the balance difference value in the sequence to be adjusted to determine the target speed of the target servo motor.

[0111] By adjusting the rotation speed of the servo motor, the wire roll can be rotated at different speeds, thereby adjusting the change in the length of wire released per unit time to adjust the wire tension. For wires with gradually deteriorating uniformity, the corresponding change in rotation speed is matched according to the degree of uniformity decay to balance the tension differences between different wires.

[0112] Specifically, please refer to Figure 5 Step S4, which determines one of the sequences to be adjusted using the mean difference in balance between the two sequences, includes:

[0113] Step S41: Determine the difference in balance between the mean of the balance difference of the two sequences and the variance of the balance of tension distribution of all carbon fiber filaments.

[0114] Step S42: Using the balance ratio between the balance difference and the balance variance of the tension distribution, determine one side of the sequence as the sequence to be adjusted.

[0115] More specifically, please refer to Figure 6 Step S42 includes:

[0116] Step S421: Determine the sequence length ratio between the longer and shorter sequences in the two sequences.

[0117] Step S422: Determine the tension direction factor of the two sequences using the balance ratio and the sequence length ratio;

[0118] Step S423: Using the positive or negative sign of the tension direction factor, determine one side of the sequence as the sequence to be adjusted.

[0119] In this embodiment, based on the above embodiment, the difference values ​​of the two sequences are... The difference values ​​on both sides are acquired separately, and their uniformity is compared to control the acceleration direction of the servo motors on both sides.

[0120] Calculate the mean difference in balance between the two sequences (here referred to as the left and right sequences). , Assess the scale of the tension anomaly:

[0121] Calculate the tension direction factor :

[0122]

[0123] In the formula: As of the current moment, the minimum equilibrium value mentioned above. Corresponding thread The difference in balance between the mean balance difference of the left and right sequences split at the endpoints. Variance of tension distribution uniformity of all threads The ratio (balance ratio) indicates that the uniformity of the distribution is worse on either side of the tension distribution, and thus the sequence is selected and adjusted in the corresponding tension direction, i.e., on the other side.

[0124] For the currently split two-sided sequences , In this context, the longer sequence is denoted as... The shorter one is recorded as This allows us to determine the ratio of the sequence lengths between the longer and shorter sequences. As an evaluation of whether the tension extension is balanced, the worse the balance, the higher the fraction value. Ideally, if the sequence lengths on both sides are the same, the fraction is 1, ensuring that the numerical fluctuation of the selected tension direction is stable.

[0125] After obtaining the tension direction factor F at the current moment, the tension needs to be adjusted based on the direction of F. The average difference in balance of the thread r with a relatively stable overall balance is small, so abnormal tension is unlikely to interfere with this part of the thread. Therefore, when F>0, the left sequence is taken as the sequence to be adjusted, and the corresponding thread in the left sequence is adjusted. When F<0, the right sequence is taken as the sequence to be adjusted, and the corresponding thread in the right sequence is adjusted.

[0126] Furthermore, step S4, which uses the balance difference value in the sequence to be adjusted to determine the target speed of the target servo motor, includes:

[0127] Determine the difference ratio between the target difference value corresponding to the target carbon fiber filament in the sequence to be adjusted and the mean difference value of the balance difference in the sequence to be adjusted;

[0128] Determine the reference servo motor speed corresponding to the maximum tension distribution uniformity in the carbon fiber filament and the initial motor speed of the target servo motor corresponding to the target carbon fiber filament;

[0129] The target speed of the target servo motor is determined by using the differential ratio, tension direction factor, reference servo motor speed, and initial motor speed.

[0130] In this embodiment, based on the above embodiment, the thread on the side that needs adjustment is adjusted from the end point ( Starting from this point, the tension adjustment factor is controlled outwards according to the distribution ratio of the differential value:

[0131] Obtain the current initial speed of the target servo motor of the target carbon fiber filament (referring to any carbon fiber filament, which can also be represented by r). .

[0132] Calculate the target difference value with the current target carbon fiber filament r as the minuend. The mean difference in the degree of equilibrium to be adjusted, which accounts for a portion of the sequence to be adjusted. difference ratio As for the current contribution of abnormal fluctuations in the uniformity of tension in some sequences, the tension direction factor that should be allocated is: .

[0133] This adjusts the speed of the target servo motor.

[0134] The target speed to be adjusted for .

[0135] In the formula The servo motor speed corresponding to the maximum uniformity j (maximum tension distribution uniformity) among all the threads is denoted here as the reference servo motor speed.

[0136] The servo motor control method after adjusting the target servo motor speed can be:

[0137] The high-speed counter of the PLC (Programmable Logic Controller) will display the rotation speed value. (Unit: rpm) is converted to pulse frequency.

[0138] Real-time initial speed An error signal is generated by comparing with the target rotational speed. .

[0139] The corresponding PID (Proportional-Integral-Derivative) algorithm is executed to obtain the control signal output by the PID controller. This control signal can be a PWM (Pulse Width Modulation) signal.

[0140] The PWM signal is processed by the MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) / IGBT (Insulated Gate Bipolar Transistor) switching control (UpdateMotorSpeed ​​function) to obtain an analog voltage signal.

[0141] The analog voltage signal (value 0-10V) is transmitted to the corresponding output module (such as QW80) to output the inverter speed command, thereby realizing the speed control of the servo motor.

[0142] This invention addresses the tension states of different filaments (or spools) generated during the carbon fiber weaving process, identifying abnormal tension states between individual filaments. Furthermore, it calculates servo motor speed control parameters based on the diffusion ratio of abnormal states arising from the overlapping distribution of carbon fiber filaments. Ultimately, it achieves targeted servo motor speed regulation based on real-time fluctuations in the tension of carbon fiber filaments, thereby improving the quality and stability of carbon fiber weaving.

[0143] Example 2:

[0144] This invention also proposes a servo motor control device for an automated carbon fiber placement machine. The device can be an automated carbon fiber placement machine, a programmable logic controller, a computer, a server, or a combination of multiple devices.

[0145] like Figure 7 As shown, Figure 7 This is a schematic diagram of the hardware operating environment of the servo motor control device of the automatic carbon fiber placement equipment involved in the embodiments of the present invention.

[0146] like Figure 7 As shown, the servo motor control device of the automatic carbon fiber placement equipment may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display or an input unit such as a control panel; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001. The memory 1005, as a computer storage medium, may include a servo motor control program.

[0147] Those skilled in the art will understand that Figure 7 The hardware structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0148] Continue to refer to Figure 7 , Figure 7The memory 1005, which is a computer-readable storage medium, may include an operating device, a user interface module, a network communication module, and a servo motor control program.

[0149] exist Figure 7 In this embodiment, the network communication module is mainly used to connect to the server and can communicate with the server for data; while the processor 1001 can call the servo motor control program stored in the memory 1005 and execute the steps in the above embodiments.

[0150] Based on the hardware structure of the servo motor control device of the above-mentioned automatic carbon fiber placement equipment, various embodiments of the servo motor control method of the automatic carbon fiber placement equipment of the present invention are implemented.

[0151] Furthermore, the present invention also provides a computer-readable storage medium. This computer-readable storage medium stores a servo motor control program, wherein when executed by a processor, the servo motor control program implements the steps of the servo motor control method for the carbon fiber automatic fiber placement equipment as described above.

[0152] The method implemented when the servo motor control program is executed can be referred to in various embodiments of the servo motor control method of the automatic carbon fiber layup equipment of the present invention, and will not be repeated here.

[0153] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0154] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0155] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0156] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. All equivalent structural / method transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A servo motor control method for an automatic carbon fiber layup device, characterized in that, The method includes the following steps: The tension curve of the carbon fiber filament is used to determine each tensioning action of the carbon fiber filament, and the tension fluctuation factor of the target tensioning action is determined by the tension data in the target tensioning action. The tension distribution uniformity of carbon fiber filaments is determined by the tension fluctuation factor of carbon fiber filaments during various tensioning actions. The tension distribution uniformity of each carbon fiber filament is used to determine the tension distribution uniformity difference sequence and divide it into two-sided sequences. The average value of the balance difference between the two sequences is used to determine one of the sequences as the sequence to be adjusted, and the balance difference value in the sequence to be adjusted is used to determine the target speed of the target servo motor. The tension fluctuation factor of the target tensioning action is determined by using tension data in the target tensioning action, including: determining the maximum tension value and the initial tension value in the target tensioning action, as well as the duration of the target tensioning action; and using the tension difference and duration between the maximum tension value and the initial tension value to determine the tension fluctuation factor of the target tensioning action. The tension fluctuation factor of the target tensioning action is determined by using the tension difference and duration between the maximum tension value and the initial tension value of the action. This includes: determining a first ratio between the tension difference and the duration; determining a second ratio between the maximum tension value and the average tension value in the target tensioning action; and using the first ratio and the second ratio to determine the tension fluctuation factor of the target tensioning action. The tension distribution uniformity of carbon fiber filaments is determined by using the tension fluctuation factor of the carbon fiber filaments in each tensioning action, including: determining the current tension fluctuation factor of the carbon fiber filaments in the current tensioning action and the minimum tension fluctuation factor in all tensioning actions; and determining the tension distribution uniformity of carbon fiber filaments by using the difference in fluctuation factors between the current tension fluctuation factor and the minimum tension fluctuation factor. The tension distribution uniformity of carbon fiber filaments is determined by utilizing the difference in fluctuation factors between the current tension fluctuation factor and the minimum tension fluctuation factor. This includes: determining the fluctuation factor ratio between the difference in fluctuation factors of the carbon fiber filaments and the standard deviation of the tension fluctuation factors of all tensioning actions; and using the fluctuation factor ratio and the number of all tensioning actions to determine the tension distribution uniformity of the carbon fiber filaments. Determining the target speed of the target servo motor using the balance difference value in the sequence to be adjusted includes: determining the difference ratio between the target difference value corresponding to the target carbon fiber filament in the sequence to be adjusted and the average balance difference value of the sequence to be adjusted; determining the reference servo motor speed corresponding to the maximum tension distribution balance in the carbon fiber filament and the initial motor speed of the target servo motor corresponding to the target carbon fiber filament; and determining the target speed of the target servo motor using the difference ratio, tension direction factor, reference servo motor speed, and initial motor speed.

2. The servo motor control method for the automatic carbon fiber layup equipment according to claim 1, characterized in that, The method of determining various tensioning actions of carbon fiber filaments using the tension curve of carbon fiber filaments includes: By identifying adjacent maxima in the tension curve of the carbon fiber filament, and using the minimum value between adjacent maxima as the endpoint, the tension curve is split to obtain the individual tensioning actions of the carbon fiber filament.

3. The servo motor control method for the automatic carbon fiber layup equipment according to claim 1, characterized in that, The process of determining the tension distribution uniformity difference sequence by utilizing the tension distribution uniformity of each carbon fiber filament and dividing it into two-sided sequences includes: The tension distribution uniformity sequence is determined by utilizing the tension distribution uniformity of each carbon fiber filament. Using the minimum balance degree in the balance degree sequence as the endpoint, the difference between the two sides of the balance degree sequence is obtained by subtracting from both sides of the balance degree sequence.

4. The servo motor control method for the automatic carbon fiber layup equipment according to claim 1, characterized in that, The step of determining one side of the sequence as the sequence to be adjusted by using the mean difference in balance between the two sides of the sequence includes: Determine the difference in balance between the mean of the balance difference between the two sequences and the variance of the balance of tension distribution of all carbon fiber filaments; By using the balance ratio between the balance difference and the balance variance of the tension distribution, one of the sequences is determined as the sequence to be adjusted.

5. The servo motor control method for the automatic carbon fiber layup equipment according to claim 4, characterized in that, The step of determining one side of the sequence as the sequence to be adjusted by using the balance ratio between the balance difference and the balance variance of the tension distribution includes: Determine the sequence length ratio between the longer and shorter sequences in the two-sided sequences; Using the balance ratio and the sequence length ratio, the tension direction factor of the two sequences is determined; Using the positive or negative sign of the tension direction factor, one side of the sequence is determined as the sequence to be adjusted.

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