专用数控缠绕机及其控制部分的开发与研究

【作者】 董千里；

【导师】 史耀耀；

【作者基本信息】 西北工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 目前，随着科技的发展，复合材料的缠绕制品越来越多的被应用于航空航天等高科技领域，作为缠绕制品的缠绕设备——数控缠绕机也发生着翻天覆地的变化。由于制品的工艺要求不同，不同的专用设备日渐成为需求的对象。而国外对于一部分特殊缠绕技术和控制技术都是严格控制的，因此，自主开发与研究专用数控缠绕机具有十分重要的意义。 本课题结合用户的要求，针对特殊制品的缠绕过程中需要分别使用连续布带和非连续布块对锥段和柱段进行缠绕的问题，对专用缠绕机进行了方案设计。特别是在柱段缠绕小车的设计中，提出了许多新的方案，使得专用缠绕机在性能和功能方面都达到了要求，提高了生产效率和制品的质量。 张力的稳定控制是复合材料缠绕过程中保证制品质量的关键技术之一，如果张力选择不当或张力控制不稳定，可使缠绕制品的强度损失达20～30％。由此可见，性能优良的数控缠绕机必须配备精确控制张力的张力控制器。针对锥段和柱段不同的缠绕工艺，本文分别采用了将磁粉离合器和力矩电机作为锥段和柱段的张力执行元件的控制方案，并以柱段控制方案为实例，对控制方案的各个环节与装置进行较为深入的分析之后，建立了控制模型。 在工业控制中，由于PID调节具有适用性强，鲁棒性好而且原理简单等优点而得到了广泛的应用，但是当输入方式改变或环境的变化使干扰的形式发生变化时，PID控制系统的三个控制系数(K_p、K_i、K_d)需要重新人工整定，难以取得满意的控制效果。本文在分析模糊控制与神经网络控制理论之后，提出了一种基于模糊神经网络的PID控制算法，并且将其应用于专用缠绕机物理参数的控制中。通过对张力的实验表明，这种新算法克服了传统PID控制的缺陷，能使张力的控制稳定化，在满足系统要求的同时，精度得到了较大的提高，是一种切实可行的方法。 对于缠绕过程中其他的物理参数控制——压力控制和温度控制，本文也进行了简要的介绍，并且对整体的控制软件进行了设计。更多还原

【Abstract】 As the development of technology, more and more composite winding products are used in high technology of aerospace field, and great changes also happened to numerical control winding machine which is the key equipment of manufacturing winding products. The special devices have been becoming demands because of different process of winding products. And since the monopoly of technology in aerospace field, to develop and research the special numerical control winding machine ourselves has very important meanings.This project combined clients’ demands and aimed at the special process of winding products, made a precept of the numerical control winding device. Especially in the designing process of column part, thesis made many creative schemes on winding machine. And all these work made winding machine have a better perform on the function and capability, at the same time, these work have enhanced efficiency and quality of the products.Tension steady control is a key technology to ensure quality in the manufacture of winding products. The intensity winding products may loss 20%～30% if the tension is not suitable or it has an unstable tension control system. Therefore, it is of great importance to equip an accurate tension controller on numeric control winding machine. On considering the different process of cone part and column part, this thesis used magnetic powder clutch and moment motor separately as the generator of resistance moment in different tension control scheme, and built the control model of cone part and column part respectively after analyzing every node and device of this control method deeply.In the industrial control field, PID regulation is widely used because of its great adaptability and robustness, but the three control parameters K_p, K_j, K_d may need to be set again by hand if there are some changes in import way or some difference in disturbing form because of difference of the working conditions, and it’s always hard to get a satisfying result. After analyzing fuzzy control theory and neural network control theory, this thesis brought forward a new PID control algorithm based on fuzzy-neural network and applied it into the control of special winding machine’s parameters. The experiment of tension showed that this algorithm got over the setback of traditional PID control way and made a stable control of belt tension. The accuracy更多还原