Design Of Control System For 4-DOF NC Winding Machine

Fiber composite materials are widely used in aerospace,petrochemical,energy industry,shipbuilding,machinery manufacturing and other fields.Winding machine is one of the core equipment for the production of fiber composite products.At present,most of the winding machine is only two,three degrees of freedom at home.The products produced by this type of winding machine is not only single and usually by the way of “following the winding spindle ".Another way of saying,the spindle rotates and the other freedoms are followed with the spindle.When the spindle error of the other degrees of freedom will increase to influence the precision of control system.4-DOF winding machine mostly used integrated numerical control system,although the winding precision by numerical control system winding machine is high,it costs high and the opening is poor.There is an urgent needing develop a good opening,high precision winding model with four degrees of freedom open CNC winding machine control system.This paper firstly analyzed the axisymmetric body core,the mandrel angle equations axisymmetric body core head and cylinder body is deduced by differential geometry theory,then the guide wire head motion equation is deduced by the polar coordinate equation of mandrel doffing point and Hanging yarn unit tangent vector,the winding angle is optimized according to the stability condition of the surface of the core fiber evenly distributed mode.Lastly,the wire head trajectory is converted into the control system of the G code file.This paper has developed 4-DOF NC winding machine control system and designed the motion controller computer servo control system hardware scheme according to the mechanical structure and working principle of winding machine.In this paper,the core symmetrical rotary core model is analyzed by using thedifferential geometry theory.Then,using the geometrical model of the mandrel and the mandrel of the axisymmetric rotary body core module,the polar coordinate equation The unit tangential vector of the yarn is deduced to the movement equation of the wire head,and the winding angle is optimized according to the stability condition of the fiber evenly covering the surface of the core mold.Finally,the trajectory of the guide wire is transformed into the G code file of the control system.The control system of 4-DOF NC winding machine was developed.According to the mechanical structure and working principle of the winding machine,the hardware scheme of "motion controller + industrial computer + servo control system" was designed.The host computer developed by Visua1 Studio 2010 environment,mainly to achieve human-computer interaction,winding linear design and optimization,G code output and download function.The lower computer program is written in TRIO Basic language,mainly to complete the spindle,arm,car,silk mouth manual control and G code file analysis function.In this paper,the control precision and linear winding experiment is done.Experiments show that,4-DOF NC winding machine control system can design the axisymmetric body core winding trajectory.The Linear can meet the requirements of stable winding.Based on the two times development of TRIO motion controller,the control system can execute G code file and improve the openness of the control system by exchanging the real-time with the host computer.The control system precision is avoided by doing interpolation motion of four servo motors.The experimental results meet the requirements in actual production.