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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2019, Vol. 53 Issue (3): 455-462    DOI: 10.3785/j.issn.1008-973X.2019.03.006
Mechanical Engineering     
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.

Key words： composites      automated tape placement      nonlinear time-varying system      decoupling control     
Received: 08 March 2018      Published: 04 March 2019
CLC:  TP 23  
Corresponding Authors: Xiao-hui XIAO     E-mail: 2012301390065@whu.edu.cn;xhxiao@whu.edu.cn
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Wu-yi XIE
Xiao GAO
Si-yu HE
Xiao-hui XIAO
Cite this article:

Wu-yi XIE,Xiao GAO,Si-yu HE,Xiao-hui XIAO. Synergetic decoupling control of transport speed and tension for automated composite tape placement. Journal of ZheJiang University (Engineering Science), 2019, 53(3): 455-462.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2019.03.006     OR     http://www.zjujournals.com/eng/Y2019/V53/I3/455


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 
Fig.1 Automated tape placement of composites
Fig.2 Structure of automated tape head
Fig.3 Dynamic analysis of composite prepreg transport system
Fig.4 Diagram of real-time radius calculation of winding wheel using area equivalent algorithm
Fig.5 Block diagram of PI+decoupling control system
序号 参数 符号 单位 取值
1 铺带头移动速度 v0 m/s 0.1
2 空收卷轮半径 R20 m 2×10?2
3 空收卷轮转动惯量 J20 kg·m2 6.5×10?4
4 衬纸密度 ρ2 kg/m3 8×102
5 预浸带宽度 D m 7.5×10?2
6 衬纸厚度 d2 m 5×10?5
7 空放卷轮半径 R10 m 2×10?2
8 满放卷轮半径 R11 m 6×10?2
9 空放卷轮转动惯量 J10 kg·m2 6.5×10?4
10 预浸带密度 ρ1 kg/m3 1.18×103
11 预浸带厚度 d1 m 1×10?4
12 压辊半径 R3 m 3.5×10?2
13 压辊转动惯量 J3 kg·m2 2.42×10?4
14 外力 Fc N 60
15 最大静摩擦力 Fs N 120
16 Stribeck速度 vs m/s 0.1
17 衰减指数 δs ? 2
18 黏性摩擦系数 b N·s/m 20
19 random (t) 的均值 mean N·m 2
Tab.1 Simulation parameters of transport speed tracking and tension tracking
Fig.6 Comparison of transport speed tracking between PI control and PI+decoupling control
Fig.7 Comparison of transport tension tracking between PI control and PI+decoupling control
Fig.8 Comparison of input torque between PI control and PI+decoupling control
控制器 υ/（m·s-1） F/N
RMSE RRMSE RMSE RRMSE
PI控制 0.016 8 47.0% 1.243 0 84.0%
PI+解耦控制 0.008 9 0.198 3
Tab.2 Root mean square error （RMSE） and relative root mean square error （RRMSE） of PI controller and PI+decoupling controller
Fig.9 Control system structure of tape placement
Fig.10 Comparison of transport speed tracking between PI control and PI+decoupling control
Fig.11 Comparison of transport tension tracking between PI control and PI+decoupling control
控制器 υ/（m·s-1） F/N
RMSE RRMSE RMSE RRMSE
PI控制 0.016 3 47.9% 0.930 2 36.2%
PI+解耦控制 0.008 5 0.593 1
Tab.3 RMSE and RRMSE comparison of PI controller and PI+decoupling controller
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