Research on Motion Control of Gantry Carbon Fiber Prepreg Tape Laying Machine Based on Visual Feedback

Advanced Composites had many advantages, such as light weight, high strength, high modulus, integrated structure and function, integrated design and manufacture, easy forming, etc. At present, after many years of continuous efforts, the domestic automatic placement technology had achieved certain results, but compared with foreign countries, there was still a big gap in the research and development of composite raw materials, automatic production, equipment technology, software optimization and so on. Therefore, this project was based on the demand of aerospace manufacturing industry to ensure the quality of large composite components and improve processing efficiency, the research on motion control of gantry type carbon fiber prepreg tape laying machine was carried out. In this study, the motion control theory based on visual feedback was adopted, and the machine vision technology was applied to the automatic placement technology, and the visual measurement system was added to the open control system based on PC and motion controller, by combining position-based visual servo with iterative learning control, an iterative learning control system based on visual feedback was proposed to determine the movement control system of paver. The aim was to realize the automatic placement of placement machine, and improve placement efficiency, to ensure the placement quality of large-scale conforming material components. The effective implementation of this project would had a certain reference value for the research of fiber placement technology.