目的 为了减少复合袋在缝合工位上的倾斜，提高缝合质量，提出了双皮带差速纠偏方法。方法 该方法运用2条速度不同的皮带实现复合袋的转向，在缝合工位之前使复合袋归正。通过实验离散地测出不同偏移量下最佳纠偏速度和转弯半径，运用模糊控制算法计算出连续的偏移量对应的纠偏速度和转弯半径。结果 通过Matlab仿真纠偏算法，复合袋的轨迹符合预期纠偏路径，在15 s内纠正了50 mm的偏移量，且纠偏误差小于1 mm，满足工业要求。结论 双皮带差速纠偏方法不仅能应用于纸塑复合袋，也能够很好地应用于工业柔性体独立个体纠偏，填补柔性体纠偏领域的空白。

The work aims to propose a double belt differential correction method, in order to reduce the inclination of the compound bag on the sewing station and improve the sewing quality. In this method, two belts with different speeds were used for the turning of the compound bag, and the compound bag was straightened before the sewing station. Through experiments, the best correction speed and turning radius under different offsets were measured discretely, and the corresponding correction speed and turning radius of continuous offsets were calculated by fuzzy control algorithm. Through the Matlab simulation correction algorithm, the trajectory of the compound bag met the expected correction path, and the deviation of 50 mm was corrected within 15 seconds, and the correction error was less than 1 mm, which met the industrial requirements. The double belt differential correction method can not only be applied to paper plastic compound bags, but also be well applied to the correction of industrial flexible body, filling the gap in the field of flexible body correction.