多向纤维缠绕机计算机控制系统设计与研究

【作者】 苏华；

【导师】 邱冠雄；

【作者基本信息】 天津工业大学 ， 复合材料设计与成型， 2016， 博士

【摘要】 纤维缠绕成型是纤维复合材料成型最常用的一种技术,它涉及到复合材料、高分子化学、机械电子和计算机等多门学科。性能良好的纤维缠绕设备是生产优质复合材料缠绕制品前提与基础。本文针对多向纤维缠绕设备及纤维缠绕张力的计算机控制进行研究。首先,本文对多向纤维缠绕设备的计算机控制进行研究。在分析轴向、环向和螺旋等线形缠绕规律的前提下,将缠绕过程分为筒身段等缠绕角缠绕段和边缘变缠绕角缠绕段,导出不同缠绕段的缠绕中心角、超越长度、绕速比等的计算公式,进一步导出相应段芯模与导丝小车的运动规律,并结合缠绕机传动系统的结构特点,给出缠绕不同线形时的芯模电机与导纱小车电机的转速比计算公式。在确定速比的基础上设计了以步进电机为执行元件的计算机控制系统。本控制系统建立了步进电动机的数学模型和优化S型加减速控制算法。本系统采用开环控制策略,包括硬件系统和软件系统两大部分。硬件系统主要是以自行设计的集成电路控制卡为主控器,以步进电机为执行元件。软件系统包括输入、输出、缠绕、挂纱和异常处理等五大功能模块。其次,对缠绕张力计算机控制进行研究。文中对缠绕过程中不同缠绕层缠绕张力变化规律进行分析,利用缠绕纤维的应力应变特点导出缠绕任意半径点缠绕张力与初始缠绕张力的关系表达式,并在此基础上设计并实现了缠绕张力控制系统。本张力控制系统采用闭环控制策略,结合多向纤维缠绕的特点,以放卷辊为研究对象,设计张力控制数学模型,并对传统的PID算法进行改进,设计了动态积分PID算法。张力控制系统反馈环节的信息采集精确性直接有效张力控制的有效性,文中结合本系统的硬件特点,采取防脉冲干扰复合式滤波法进行采样数据,有效的滤除干扰脉冲信号,提高张力控制精度。最后,本课题通过实验验证系统的性能。利用计算机控制的缠绕机进行干纱实验缠绕,缠绕纤维排列均匀,但在满足缠绕角要求的前提下需要对缠绕长度进行调整。此外,对同参数的有张力控制制件和无张力控制的制件进行力学实验,从试件的受力后的破坏形式分析,有张力控制的试件的应力应变曲线线性度较好,试件的结构均匀,验证了纤维张力控制有助于提高缠绕圆筒结构力学性能的整体一致性。更多还原

【Abstract】 Filament winding is the most commonly techniques of fiber composite material forming. It relates to composite materials, polymer chemistry, machinery and electronics, and computer and many other subjects. The good performance of the fiber winding equipment is precondition and foundation for the production of high quality composite winding products. The paper has researched on computer-controlled multi-filament winding equipment that including winding control and winding tension control.Firstly, the paper studied a computer-controlled method which was used to control a multi-filament winding equipment. It focuses on analysis of all kinds of filament winding regular pattern such as helical winding, hoop winding and zero degree winding. The winding process is divided into two parts. One is the winding process of tube body with a constant winding angle.the other is the winding process of tube edges with dynamic winding angle. It analyzed and designed a calculation method which calculated winding center angle beyond length and winding speed ratio in different section. The paper derived the motion law between core mould and Yarn feeder. It also derived a winding speed ratio calculation method that was based on the mechanical properties of the multidirectional filament winding equipment It also derived a speed, ratio calculation method which based on the mechanical properties of the multidirectional filament winding equipment. Then It designed a winding machine computer-contorled system with stepper motor. It built a mathematical model of stepper motor with the S-curve shap ACC/DEC methods. The control system that based on the open-loop control strategy is divided into five functional modules, including input, output, winding, hanging yarn and exception handling. It details the five functional modules of hardware and software design and implementation process.Secondly.the paper analyzes the winding tension and designs a winding tension control system. In the filament winding process, suitable and stable tension helps to increase the winded components’mechanical properties and to improve the quality of winded products. The tension control system are researched and manufactured by this project. The closed-loop tension control system, with MCU as the main controller, alternating servo-electromotor as the actuator, equipped with the pressure sensor of real time feedback filament tension change is designed. The dynamic integral PID control algorithm is suitable forthe closed-loop system.Finally, the both systems are debugged in part and as a whole to ensure the correctness and stability. Experimental results proved that the principle of the design schemes is right and well meets the requirements of the system.更多还原