纤维缠绕管道变速比段控制算法研究

为了保证缠绕控制精度不受芯模速度波动的影响，研究了变速比段的自适应控制算法。根据缠绕纤维均匀布满芯模表面的要求，研究了落纱点与芯模在纱车变速比段需要满足的速度和位置边界条件。建立了落纱点和纱车之间的运动数学模型，并且通过待定系数法得到了纱车运动控制算法。经仿真实验验证，该算法的控制精度不低于0．05mm。

Research on the Control Algorithms for Varying Velocity-ratio Section of Filament Winding Pipe

An adaptive control algorithm for varying velocity - ratio section is researched to guarantee high precision even if the velocity of mandrel fluctuates. In order to overlay the surface of mandrel evenly and precisely, certain position conditions should be met when the expected speed ratio reached. The kinematics relation between the fiber- touched point and the delivery point is analyzed, and a mathematic model is constructed in the shape of differential equation, which is inconvenient to resolve during the control cycles. In this paper, a method of undetermined coefficients is given to design the adaptive control algorithms, and the coefficients of which can be determined by the equations obtained from the boundary conditions. Simulation has been done, which shows the precision can be better than 0.05 mm.