Research On Control System Of Gantry Four-axis Winding Machine

Fiber composites have better properties than single materials and are widely used in aerospace,military,industrial,and medical fields.Fiber winding molding is an important molding processing method for fiber composite materials.Fiber winding machines and control systems in current industrial applications have problems such as low accuracy and low degree of automation.The gantry four-axis winding machine can not only achieve high-precision winding of complex shape fiber products,but also realize multi-station winding,improve productivity and control production costs.This paper develops and designs the control system of gantry four-axis winding machine,and the main research content is as follows.Firstly,the fiber winding molding process and line type law are expounded,starting from the main frame mechanical structure of the gantry four-axis winding machine,the working principle and structural characteristics of each feed mechanism,the controlled motion characteristics of each executive component are obtained,and the functional requirements and non-functional requirements of the system are determined from the business requirement analysis of the control system,and the module division is completed.Secondly,based on the analysis of the basic conditions of fiber winding stability,the mathematical model is obtained,and the winding trajectory of the axisymmetric gyratory body core under the geodesic law is studied,and the formula core mold rotation angle and spout motion equation are obtained,so as to realize the formulaic design of the core mold trajectory.The winding angle optimization algorithm and the selection principles of fiber winding line type,speed ratio and residence angle are proposed.Thirdly,the control system structure of the gantry four-axis winding machine is determined,the lower computer adopts TRIO MC405 embedded motion controller,and the upper computer adopts Advantech IPC-610-H industrial computer,and the two communicate with the master-slave structure through the RS485 interface based on the Modbus communication protocol to realize the function of the control system.Finally,based on the Microsoft Visua1 Studio environment,the host computer software is developed to realize the winding trajectory design and human-computer interaction functions,and the key module code implementation process is given.Based on the Motion Perfect environment,the lower computer control software is developed,and the strategy of combining electronic cam and PID algorithm is used to realize the synchronous coordinated movement of the four axes under the automatic winding production of the gantry four-axis winding machine,the spindle,the trolley,the extension arm and the spout.