缠绕机张力控制系统研究

【作者】 赵利平；

【导师】 高殿斌；

【作者基本信息】 天津工业大学 ， 机械设计及理论， 2007， 硕士

【摘要】 复合材料缠绕成型具有一次成型、强度高等特点而受到了广泛的关注和应用。缠绕成型中由于缠绕张力的作用，外层纤维将对内层纤维产生一个径向的接触压力，使内层产生收缩变形，同时使缠绕层产生内松外紧的现象。为了使内外各层纤维在缠绕完成以后的张力基本相同，本文利用弹性力学的方法推导出所要求的各层纤维张力计算公式。对于芯模要拆除的制品给出了制品中的残余应力计算式和芯模上的缠绕压力和径向位移，前者用于芯模设计，后者用于控制最终产品的公差。而对于芯模不拆除的制品给出了芯模刚度与最大缠绕张力间的关系式。通过分析张力控制的特点和要求，设计用微机控制力矩电机的张力控制系统。提出用智能传感器，实现张力闭环控制，以确保张力控制达到各项性能要求。直流力矩电动机堵转力矩大，空载转速低，不需要任何减速装置可直接驱动负载，既消除了齿隙又缩短了传动链，并具有反应速度快、特性线性度好等优点，因而保证系统的稳定性及静态动态精度；采用片上集成芯片ADuC824构成智能传感器，由于它可直接接收来自传感器的微弱信号且集成度高、体积小，可以大大简化结构。通过建立并分析张力控制系统各部分的数学模型，设计参数自整定模糊PID控制器。用Matlab／Simulink对张力控制系统进行仿真实验，并与传统PID控制进行比较，实验证明该控制系统具有动态响应快，稳态精度高等优点，达到了系统的控制要求。更多还原

【Abstract】 Filament winding forming technology of composite material is widely considered and used because of its characteristic: once-for-all forming with continuous filament and high strength. Due to the intertwining tension, in the process of filament winding, the inner layer filament will have a shrinkage strain because of the radial direction contact pressure from the outer layer filament thus the inner layer filament is shrink while the out layer filament is tight. In order to avoid this phenomenon and make both layers receive same tension basically, here, using elastic mechanics theory, we deduced the computing formula to calculate the needed tension of each layer. For those products whose mandrel must be removed, the formula of residual stress as well as the intertwining tension and radial displacement that act on the mandrel has been given. The former can be used to design mandrel while the latter could be used to control the tolerance of the final product. For those products whose mandrel needn’t be removed, the relationship between mandrel rigidity and the maximum winding tension has been given.By analyzing the characteristic of tension control, we design to use the system of which the torque motor is controlled by micro computer. And intelligence sensor be used to tension closed-loop control is proposed to ensure that tension control could meet the functional requirements. DC torque motor has big stall torque, low no-load speed, could drive load without any graduating device, it not only removes backlash and shorten driving chains but also has high reaction velocity and good linearity and so on, thus ensure the system stability and static precision as well as dynamic precision. Using special data-collection ADuC824 chip to form the intelligence sensor since it can receive weak signal directly from the sensor, because of the high integration and small volume it can simplify the structure greatly. Fuzzy self-adaptive PID control could be designed by founding and analyzing mathematic model of all parts of the tension control system. Making simulation experiment of the tension system by MatLab/Simulink and compare with traditional PID, the test result indicates that the control system makes the control quality (celerity, veracity, stability) compatible, meets the control requirements.更多还原