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基于NURBS的航空发动机叶片焊接修复的轨迹规划

戴士杰, 张熠, 王志平, 邢志伟

戴士杰, 张熠, 王志平, 邢志伟. 基于NURBS的航空发动机叶片焊接修复的轨迹规划[J]. 焊接学报, 2015, 36(1): 23-26.
引用本文: 戴士杰, 张熠, 王志平, 邢志伟. 基于NURBS的航空发动机叶片焊接修复的轨迹规划[J]. 焊接学报, 2015, 36(1): 23-26.
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DAI Shijie, ZHANG Yi, WANG Zhiping, XING Zhiwei. Trajectory planning of welded repair for aero-engine blades based on NURBS curve[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2015, 36(1): 23-26.
Citation: DAI Shijie, ZHANG Yi, WANG Zhiping, XING Zhiwei. Trajectory planning of welded repair for aero-engine blades based on NURBS curve[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2015, 36(1): 23-26.
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基于NURBS的航空发动机叶片焊接修复的轨迹规划

  • 1.

    河北工业大学机械工程学院, 天津 300131

  • 2.

    中国民航大学航空自动化学院, 天津 300300

基金项目: 中国民用航空局重大专项资助项目(MHRD20130104);国家自然基金委员会与中国民用航空局联合资助项目(U1433117);河北省自然科学基金资助项目(F2012202041)

Trajectory planning of welded repair for aero-engine blades based on NURBS curve

  • 1.

    School of Mechanical Engineering, Hebei University of Technology, Tianjin 300131, China

  • 2.

    Automation College of Aviation, Civil Aviation University of China, Tianjin 300300, China

摘要

    摘要
  • 摘要: 由于航空发动机叶片截面形状复杂,焊接修复精度高,采用基于非均匀有理B样条曲线(non-uniform rational B-spline,NURBS)方法进行轨迹规划.利用NURBS曲线分别表示叶片截面的前缘、尾缘、叶盆和叶背等四部分曲线,经过升阶整合处理,获得统一表达式,从而进行基于NURBS的曲线插补.综合弓高误差、法向加速度和编程进给速度对焊接速度和精度的影响,实现了进给速度的自适应控制.提出了一种分段前瞻控制,简化了前瞻算法,提高了前瞻效率.最后通过仿真试验验证该算法的可行性和焊接精度.结果表明,该算法是可行的,具有良好的焊接精度.
    Abstract: As the complex shape of blades and the high requirement for welding repair of blades, NURBS(non-uniform rational B-spline) is adopted for trajectory planning. The section curves of blades is composed of leading edge, trailing edge, basin side and vacuum side. In order to get an unified expression and simplify the interpolation process, the order of the expression of leading edge and trailing edge must be increased. Then curve interpolation is carried out based on NURBS. Based on chord error, normal acceleration and programmed feed rate, adaptive control of the feed rate is achieved. This paper proposes a segmented look-ahead algorithm to improve the efficiency. Finally, a simulation is given to verify the feasibility and accuracy of this algorithm.
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    • 参考文献(10)
  • [1] 赵娜,李亮玉,刘杰,等.飞机叶片焊接修复中的三维测量重构技术[J].焊接学报, 2014, 35(6):73-76. Zhao Na, Li Liangyu, Liu Jie, et al. A three-dimensional reconstruction methodology for aero-engine blade welding repair[J]. Transactions of the China Welding Institution, 2014, 35(6):73-76.
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    [7] 邵园园,玄冠涛,刘晶,等.逆向驱动焊接机器人NURBS轨迹规划[J].焊接学报, 2014, 35(6):9-12. Shao Yuanyuan, Xuan Guantao, Liu Jing, et al. Reverse-driving trajectory planning of welding robot with NURBS[J]. Transactions of the China Welding Institution, 2014, 35(6):9-12.
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    [9] 胡金燕,王仁宏.基于NURBS的圆弧曲线表示方法[J].大连理工大学学报, 2001(6):640-643. Hu Jinyan, Wang Renhong. Approaches of representing circular arcs with NURBS of degree two[J]. Journal of Dalian University of Technology, 2001(6):640-643.
    [10] 史中权,叶文华.多轴联动条件下插补速度实时可调的前瞻控制算法[J].航空学报, 2013(2):582-592. Shi Zhongquan, Ye Wenhua. A look-ahead algorithm with adjustable real time feedrate based on multi-axis synchronous interpolation[J]. Acta Aeronautica et Astronautica Sinica, 2013(2):582-592.
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  • 收稿日期:  2014-05-07

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