Research On Motion Control Of Gantry Carbon Fiber Prepreg Tape Placement Machine Based On Visual Feedback

With the rapid development of composite materials,carbon fiber prepreg tape,as a typical composite material,has played an indispensable role in national defense construction and national economy.With the extensive application of composite materials,the technology of composite materials is becoming more and more mature.Automatic placement technology has become one of the new processing methods commonly used in recent years because of its advantages of good quality and high degree of automation.Domestic automatic placement technology has achieved certain results after years of continuous efforts,and has initially realized the application of automatic placement technology.However,compared with foreign countries,there is still a big gap in the development of raw materials for composite materials,automatic production,equipment technology,software optimization and so on.This paper does the research on the motion control of gantry carbon fiber prepreg tape placement machine,mainly about the motion theory based on visual feedback,and the hardware and software of the placement machine system are designed respectively.Specification as follows:(1)The development status of automatic placement technology and machine vision technology at home and abroad is analyzed.Machine vision technology is applied to automatic placement technology.The motion control mode of gantry carbon fiber prepreg tape placement machine based on visual feedback is determined.The overall motion control scheme of the placement machine is designed,which includes three parts: the visual measurement system of the placement head,the iterative learning control system by visual feedback and the mechanical execution part of the placement machine.The motion control theory based on visual feedback is studied to prepare for the hardware and software design of the placement machine system.(2)The hardware design of the placement machine system is accomplished.The mechanical structure of gantry carbon fiber prepreg tape placement machine is studied,and the general characteristics of the placement machine were analyzed.Based on machine vision,the hardware design of vision measurement system is completed.Based on the open CNC system of PC and PMAC,the hardware design of the iterative learning control system based on visual feedback is completed.(3)The related software design of the placement machine system is accomplished.Based on the open CNC system of PC and PMAC,added visual measurement system,position-based visual servo and iterative learning control are combined to design an iterative learning control system by visual feedback.Based on C++ language,the specific design of human-computer interaction interface of PC is realized,involving camera calibration,image preprocessing,pose acquisition,program setting,manual control and automatic control module.The software design of the PMAC is completed,including the design of the PLC control program and the motion control program.Through experiments,the motion control function of the placement machine is verified.It is accuracy is measured within acceptable range,reaching the expected requirements.Through the study of motion control of gantry carbon fiber prepreg tape placement machine,the automatic placement of the placement machine is preliminarily realized.