The Design Of Four-axis Winding Machine Control System Based On Embedded Motion Controller

Composites have many outstanding advantages and excellent performance,which is widely used in the field of aerospace, military, industrial, andconstruction. The winding machine is the main equipment for the production ofcomposite fiber products. Four-axis winding machine can achieve theaxisymmetric solid of revolution，so it is widely used in many areas. At present,the existing control system of winding machine is composed of industrial controlcomputer and motion control card which is based on PCI or ISA bus. Thewinding machine with the mode of multi-axis interpolation can realizesynchronization control of movement axis, but it winds products of simple andsingle types with a poor openness and without functions of outputting thetrajectory. So the control system with new four-axis winding machine which hashigh reliability，better openness and high precision of synchronous control isurgently to be developed.The paper established a mathematical model of the rotary body based on thespace coordinates and analysed the law of geodesic winding in the method ofdifferential geometry theory. What’s more, it gave the geodesic differentialequation of the cylinder and ellipsoid and solved the differential equations in theRunge-Kutta method. It used the simultaneous equation of the suspension line ofdoffing point and the feed-eye motion plane equation, coupled with the givenconstraint condition to solve the motion trajectory of feed-eye and the rotation ofthe mandrel. It developed the control system of four-axis winding machine basedon the embedded motion controller. The IPC and Euro205X controllercommunicate with each other through serial port way which is based on ModbusRTU protocol. The system is developed through Visual C++language, thecontroller’s program is developed through Trio basic language. The hostcomputer is used to provide man-machine interaction, system monitoring, process parameters setting, crafts computing and coordinate points and G code; The slavecomputer complete the trajectory which passed down by the host computer andhandle the IO signal. In order to realize the four axis winding machine’slongitudinal and hoop winding, this paper adopted the electronic CAM controlmode to control the car, boom, yarn spindle comb synchronized with thecoordination of movement.Practical operation shows that the embedded motion controller can runoffline; so it improves the reliability of the system. The output of the G codeincreases the openness of the control system. Trolley and boom, yarn spindle ofcomb synchronized with the motion control are high precision and goodreliability. This system achieved a variety of specifications container winding.