基于运动学原理的复合材料编织成型工艺仿真技术研究

doi:10.11996/JG.j.2095-302X.2025051061

图学学报 ›› 2025, Vol. 46 ›› Issue (5): 1061-1071.DOI: 10.11996/JG.j.2095-302X.2025051061

基于运动学原理的复合材料编织成型工艺仿真技术研究

吴浩宇¹(), 杨小超², 王伟²^,³(), 赵罡¹^,²^,³

¹ 北京航空航天大学航空发动机研究院，北京 102206
² 北京航空航天大学机械工程及自动化学院，北京 102206
³ 虚拟现实技术与系统国家重点实验室，北京 100191

收稿日期:2024-11-11 接受日期:2025-03-19 出版日期:2025-10-30 发布日期:2025-09-10
通讯作者:王伟(1978-)，男，副教授，博士。主要研究方向为计算机辅助设计、计算机辅助工程等。E-mail：jrrt@buaa.edu.cn
第一作者:吴浩宇(1999-)，男，博士研究生。主要研究方向为计算机辅助设计、计算机辅助工程等。E-mail：buaawhy@buaa.edu.cn
基金资助:
国家自然科学基金(61972011)

Simulation technology for braiding process of composite materials based on kinematic principles

WU Haoyu¹(), YANG Xiaochao², WANG Wei²^,³(), ZHAO Gang¹^,²^,³

¹ Research Institute of Aero-Engine, Beihang University, Beijing 102206, China
² School of Mechanical Engineering and Automation, Beihang University, Beijing 102206, China
³ State Key Laboratory of Virtual Reality Technology and Systems, Beijing 100191, China

Received:2024-11-11 Accepted:2025-03-19 Published:2025-10-30 Online:2025-09-10
First author：WU Haoyu (1999-), PhD candidate. His main research interests cover computer aided design, computer aided engineering, etc. E-mail：buaawhy@buaa.edu.cn
Supported by:
National Natural Science Foundation of China(61972011)

摘要/Abstract

摘要：

围绕编织机控制数据、纱线轨迹以及编织角的计算与预测设计的，提出一种编织复合材料成型过程的仿真算法，从2个相反的过程展开，逆向求解基于目标编织结构生成可靠的编织机控制数据，正向求解依据输入的编织机控制数据计算纱线轨迹，从而得到编织结构。首先将芯轴表面划分为一系列三角面片的集合并将其作为程序输入，提取芯轴中心线，依照运动学原理进行局部求解，由逆解算法生成设定编织角下的编织结构并得出相应编织速度，由正解算法计算特定编织速度以及编织机控制参数下的纱线轨迹和编织角分布情况。基于FreeCAD平台开发了BraidSim模块以实现编织工艺的动态仿真，支持对芯轴表面网格剖分、期望轨迹与编织速度生成与纱线沉积的动态仿真等功能。通过圆形变截面芯轴、方形变截面芯轴、航空发动机进气道芯轴以及空间曲线芯轴等典型编织案例进行仿真实验，仿真结果得到的编织速度与编织角分布基本符合预期，另外对变截面芯轴以及弯曲中心线芯轴进行了仿真并生成了相应的逆解编织机控制数据以及编织角分布情况，证实了该算法在复杂芯轴中的工程适用性。

关键词: 复材制造, 二维三轴织物, 虚拟仿真, FreeCAD, 软件设计

Abstract:

A simulation algorithm for the braiding process of composite materials is presented, specifically addressing the calculation and prediction of braiding machine control parameters, yarn trajectories, and braid angles. The algorithm operates through two complementary subprocesses: inverse solution generates machine control data based on target braid structures, while forward solution computes yarn trajectories and braid angle distributions using predefined control parameters. Initially, the surface of the mandrel is discretized into a set of triangular patches as program inputs. The mandrel centerline is extracted, and local solutions are performed according to kinematic principles. The inverse solution algorithm generates the braid structure of the preset braid angle and determines the corresponding take-up speed, while the forward solution algorithm calculates the yarn trajectories and braid angle distribution of specific take-up speed and control parameters. The BraidSim module, developed on the FreeCAD platform, integrates functionalities including mandrel surface meshing, trajectory generation, and dynamic yarn deposition simulation. The proposed algorithm has been validated through typical braiding cases including circular variable cross-section mandrel, square variable cross-section mandrel, aero-engine intake mandrel and spatial curve mandrel. Results demonstrate that the obtained take-up speed and braid angle distributions align closely with design expectations. Additional simulations are conducted for variable cross-section mandrel and curved centerline mandrel, generating corresponding inverse solution machine control data and forward solution braid angle distribution, demonstrating the applicability of the algorithm to complex mandrels.

Key words: composite material manufacturing, two-dimensional triaxial fabric, virtual simulation, FreeCAD, software design

中图分类号:

吴浩宇, 杨小超, 王伟, 赵罡. 基于运动学原理的复合材料编织成型工艺仿真技术研究[J]. 图学学报, 2025, 46(5): 1061-1071.

WU Haoyu, YANG Xiaochao, WANG Wei, ZHAO Gang. Simulation technology for braiding process of composite materials based on kinematic principles[J]. Journal of Graphics, 2025, 46(5): 1061-1071.

图/表 17

图1 编织机

Fig. 1 Braid machine

图2 典型二维三轴织物

Fig. 2 Typical two-dimensional triaxially braided composites

图3 编织角定义[28]

Fig. 3 Definition of the braid angle[28]

图4 期望轨迹落点计算

Fig. 4 Calculation of desired trajectory drop point

图5 期望轨迹

Fig. 5 Expected trajectory

图6 有效落点

Fig. 6 Valid drop point

图7 编织参数示意图

Fig. 7 Illustration of braiding parameters

图8 编织参数求解流程

Fig. 8 Braiding parameter solving process

图9 导向环接触检查((a) 不接触；(b) 接触)

Fig. 9 Guide ring contact check ((a) No contact; (b) Contact)

图10 纱线沉积

Fig. 10 Illustration of yarn stacking

图11 FreeCAD关键软件库

Fig. 11 Key software library in FreeCAD

图12 编织模型建立界面

Fig. 12 Braiding model generating interface

图13 仿真工作界面

Fig. 13 Demonstration of the simulation process

图14 圆形变截面芯轴仿真结果((a) 期望轨迹；(b) 逆解编织速度；(c) 正解纱线分布；(d) 正解编织角分布)

Fig. 14 Simulation result of circular mandrel with variable section ((a) Expected trajectory; (b) Braiding speed; (c) Yarn trajectory; (d) Distribution of braid angle)

图15 方形变截面芯轴仿真结果((a) 期望轨迹；(b) 逆解编织速度；(c) 正解纱线分布；(d) 正解编织角分布)

Fig. 15 Simulation result of rectangular mandrel with variable section ((a) Expected trajectory; (b) Braiding speed; (c) Yarn trajectory; (d) Distribution of braid angle)

图16 航空发动机进气道芯轴仿真结果((a) 期望轨迹；(b) 正解纱线分布；(c) 正解编织角分布)

Fig. 16 Simulation result of aero-engine inlet mandrel with variable section ((a) Expected trajectory; (b) Yarn trajectory; (c) Distribution of braid angle)

图17 空间曲线芯轴仿真结果((a) 期望轨迹；(b) 正解纱线分布；(c) 正解编织角分布)

Fig. 17 Simulation result of curved mandrel with variable section ((a) Expected trajectory; (b) Yarn trajectory; (c) Distribution of braid angle)

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基于运动学原理的复合材料编织成型工艺仿真技术研究

Simulation technology for braiding process of composite materials based on kinematic principles

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