Mechanical Engineering |
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Synergetic decoupling control of transport speed and tension for automated composite tape placement |
Wu-yi XIE( ),Xiao GAO,Si-yu HE,Xiao-hui XIAO*( ) |
School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China |
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Abstract Synergistic decoupling control between transport speed and tension for automated composite tape placement was studied based on the requirements of automated composite tape-laying. A nonlinear time-varying two-input and two-output model of the composite prepreg transport system was established based on the self-developed automated tape head. The synergetic decoupling control of transport speed and tension was performed combining with PI (proportional-integral) and diagonal matrix decoupling control algorithm. The tracking experiments of transport speed and tension were carried out in the dynamic simulation environment, and the feasibility of the control algorithm was preliminarily verified. The experiments were carried out on the automated composite tape placement. Results show that the proposed control algorithm can realize the synergistic decoupling control of transport speed and tension, and has strong anti-interference ability. The RMSE of transport speed and tension are 0.008 5 m/s and 0.593 1 N·m, which are 47.9% and 36.2% lower than PI control, respectively. The experimental results validate the effectiveness of the proposed control strategy sufficiently, which can be applied in the real prototype to control the transport speed and tension of tape placement.
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Received: 08 March 2018
Published: 04 March 2019
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Corresponding Authors:
Xiao-hui XIAO
E-mail: 2012301390065@whu.edu.cn;xhxiao@whu.edu.cn
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面向复合材料自动铺放设备的输带速度与张力协同解耦控制
根据复合材料自动铺带成型的工艺参数要求,研究自动铺带机的输带速度与张力的协同解耦控制. 依据自主研发的铺带头建立预浸带输送系统的非线性时变双输入双输出模型,采用PI控制与对角矩阵解耦控制相结合的控制算法实现输带速度与张力的协同解耦控制. 在动力学仿真环境下进行输带速度与张力的跟踪实验,初步验证控制算法的可行性;在复合材料自动铺带机上进行的控制实验结果表明,提出的控制算法可以实现输带速度与张力的协同解耦控制,且具有较强的抗干扰能力,输带速度跟踪和张力跟踪的均方根误差(RMSE)分别为0.008 5 m/s和0.593 1 N·m,相比于PI控制分别降低了47.9%和36.2%. 实验结果充分验证了所提控制策略的有效性,该控制策略可用于复合材料铺放过程中的输带速度与张力的协同控制.
关键词:
复合材料,
自动铺放机,
非线性时变系统,
解耦控制
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