自动铺丝压实力导纳控制器设计与参数优化方法

衣明辉; 张家瑞; 张武翔; 陈维强; 丁希仑

doi:10.13700/j.bh.1001-5965.2021.0774

自动铺丝压实力导纳控制器设计与参数优化方法

doi: 10.13700/j.bh.1001-5965.2021.0774

1.
北京航空航天大学机械工程及自动化学院，北京 100191
2.
北京卫星制造厂有限公司，北京 100190

基金项目: 国家自然科学基金(51575018)

详细信息

通讯作者:
E-mail：zhangwuxiang@buaa.edu.cn

中图分类号: V261.97
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- 文章访问数: 120
- HTML全文浏览量: 35
- PDF下载量: 23
- 被引次数: 0
出版历程
- 收稿日期: 2021-12-22
- 录用日期: 2022-02-16
- 网络出版日期: 2022-03-09
- 整期出版日期: 2023-11-30

Design and parameter optimization method of compaction admittance controller for automated fiber placement

1.
School of Mechanical Engineering and Automation，Beihang University，Beijing 100191，China
2.
Beijing Satellite Manufacturing Factory Co.，Ltd，Beijing 100190，China

Funds: National Natural Science Foundation of China (51575018)

More Information

Corresponding author: E-mail：zhangwuxiang@buaa.edu.cn

摘要

摘要:
铺放压实力是连续纤维复合材料结构自动铺放成型的关键工艺参数之一。由于多数铺丝设备刚性高且位控精度不足，往往容易导致压实力波动较大，严重影响成型质量。因此，面向纤维预浸料自动铺放成型过程中压实力的柔顺控制要求，构建铺丝设备压实机构与成型模具间的二阶等效模型，设计一种基于导纳控制原理的铺放压实力控制器，采用烟花群体智能算法对控制器的惯性参数、阻尼参数及刚度参数进行优化求解，并通过建模仿真与铺放试验验证铺放压实力导纳控制器的有效性。
- 自动铺丝 /
- 压实力调控 /
- 导纳控制 /
- 烟花算法 /
- 多参数优化
Abstract:
Compaction pressure is one of the crucial manufacturing process parameters of continuous fiber composite structures fabricated by automated fiber placement. Due to the high rigidity and insufficient position control accuracy of most automated fiber placements, compaction pressure fluctuates drastically which results in poor forming quality. In order to satisfy the compliance control requirements of pressure regulation, the second-order equivalent model between the compaction mechanism and the forming mould was constructed, a pressure controller based on admittance control principle was proposed. Further, the inertia parameter, damping parameter and stiffness parameter of the controller were optimized by using fireworks swarm intelligence algorithm, and the effectiveness of the controller was demonstrated by modeling and simulation, and practical layup experiment.
- automated fiber placement /
- compaction pressure regulation /
- admittance control /
- fireworks algorithm /
- multi-parameter optimization

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图 1 铺丝设备硬件结构示意图

Figure 1. Structure diagram of automated fiber placement

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图 2 导纳控制压实接触模型

Figure 2. Contact model of compaction pressure admittance control

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图 3 铺放压实力导纳控制原理

Figure 3. Admittance control principle of compaction pressure

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图 4 铺放压实力导纳控制仿真模型

Figure 4. Simulation model of compaction pressure regulated by admittance controller

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图 5 导纳控制器结构

Figure 5. Structure of admittance controller

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图 6 导纳控制参数对系统动态性能的影响

Figure 6. Influence of admittance control parameters on system dynamic performance

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图 7 导纳控制参数优化流程

Figure 7. Flow chart of admitance control parameters optimization

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图 8 导纳控制参数优化结果

Figure 8. Optimization results of admittance control parameters

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图 9 自动铺放试验平台

Figure 9. Test platform of automated fiber placement

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图 10 试验平台控制系统

Figure 10. Control system of the test platform

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图 11 期望值为20 N时压实力波动曲线

Figure 11. Measured compaction pressure with expected value as 20 N

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图 12 期望值为50 N时压实力波动曲线

Figure 12. Measured compaction pressure with expected value as 50 N

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表 1 烟花算法及优化目标主要参数

Table 1. Main parameters of fireworks algorithm and optimization objective

参数	设定值
烟花阵列数量	50
变量维数	3
惯性参数空间	(0,10)
阻尼参数空间	(100,300)
刚度参数空间	(0,10)
高斯变异火花数量	3
爆炸火花数目常数	5
爆炸半径常数	5
迭代次数	300
ITAE权重ω₁	0.01
稳态误差权重ω₂	0.1

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