Abstract
Dynamic models play a critical role in the design of model-based controllers, which has a significant effect on the dynamic characteristics of motion equipment. This paper mainly focuses on the dynamic modeling and parameter identification for a gantry-type automated fiber placement (AFP) machine. First, a dynamic modeling process combining prismatic axes and revolute axes is conducted by Newton-Euler method, in which the effects of friction and hydraulic balance system are also considered. Then, as the convenience for parameter identification and the application in linearity control, the methods of dynamic model linearization and determination of minimum inertial parameters based on the multi-body system (MBS) theory are proposed, with which a dynamic model in the form of linearized minimum inertial parameters is consequently established. To identify the parameters in the model, key issues regarding excitation trajectory, filtering, and identification algorithm are discussed in detail. Finally, corresponding experiments are performed on the AFP machine, and experimental results show that there is a good agreement between the prediction of the model and the measurement in actuality. Data analysis shows that except for Z-axis, the relative error rates of the others are not greater than 5%, which proves the effectiveness of the established dynamic model and the identified parameters.
Highlights
Advanced carbon fiber reinforced composite (CFRP) materials have been extensively used in the aerospace field due to their performance over traditional metal materials, and their usage has reached 50% in advanced civil aircraft such as Airbus A350 and Boeing B787 [1,2]
Since the movement of the fiber placement head is provided by the motion equipment, there is no doubt that the dynamic characteristics of the motion equipment directly determine the efficiency and quality of the composite component manufacturing
As far as the Automatic fiber placement (AFP) machine is concerned, the dynamic model is indispensable to get the high performance under high speed, issues about the dynamic modeling and parameter identification for a gantry-type AFP machine are studied, and remains are organized as follows: Section 2 is devoted to the dynamic modeling process of the AFP machine and analyses the methods of dynamic model linearization and determination of minimum inertial parameters; Section 3 investigates the excitation trajectory and the parameter identification method; Section 4 develops the corresponding experiments and discusses the results, and Section 5 concludes the paper and proposes the direction of future
Summary
Advanced carbon fiber reinforced composite (CFRP) materials have been extensively used in the aerospace field due to their performance over traditional metal materials, and their usage has reached 50% in advanced civil aircraft such as Airbus A350 and Boeing B787 [1,2]. With the advantage of clear physical meaning, the dynamic equation established by the Newton-Euler method can be converted into a linear form of multiplication of inertia parameters and kinematic parameters through appropriate derivation, which is more suitable for the application in parameter identification and linearity control. Inertia parameters in the dynamic model of the linear form above can be further linearly combined to generate the minimum inertial parameters This is an essential property of the dynamic equation, which has great advantages in simplifying the dynamic calculation, inertia parameter identification, and control system design and analysis, etc. Dynamic modeling and parameter identification have been widely studied in robot fields, and the methods that involve dynamic model linearization and determination of minimum inertial parameters are mature. As far as the AFP machine is concerned, the dynamic model is indispensable to get the high performance under high speed, issues about the dynamic modeling and parameter identification for a gantry-type AFP machine are studied, and remains are organized as follows: Section 2 is devoted to the dynamic modeling process of the AFP machine and analyses the methods of dynamic model linearization and determination of minimum inertial parameters; Section 3 investigates the excitation trajectory and the parameter identification method; Section 4 develops the corresponding experiments and discusses the results, and Section 5 concludes the paper and proposes the direction of future
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