Research On Key Technology Of Multi - Axis Transmission System For Carbon Fiber Multi - Layer Corner

The multi-shaft warp system is one of the key technologies in the multi-layer angle-interlock carbon-fiber weaving machine (MACWM), which is important for the effective production and the high performance products of the 3D angel-interlock fabrics. The pape around the urgent problems of the multi-shaft warp system such as the mechanism design, the tension control technology, the multi-roller coordinated motion control and the stable and reliable control system design carry out research work. The analysis of three different 3D angel-interlock fabrics and their weaving processes form the entrance for the multi-shaft warp system. The mechanism design of the multi-shaft warp system is researched. Both the warp tension control method and the multi-shaft coordinated motion control method are proposed based on the system dynamic modeling and the dynamic coupling relationship among the subsystems. Meanwhile, the special controllers are developed for the multi-shaft warp system and the electro mechanical control system for the multi-shaft warp system are developed. Several experiments have been performed on the MACWM to show the efficiency and feasibility of the whole control system. The contributions of the thesis can be summarized as follows.(1) The multi-layer angle-interlock carbon-fiber weaving machine can product three different kinds of 3D angel-interlock fabrics which are angle interlock fabric, angle interlock with stuffing warp yarns fabric and 3D orthogonal interlock woven fabric. There are different needs of the warp yarn of different layers. Based on the the fabric architecture, the device of warp system and the carbon yarn property, sixty warp rollers, sixty active pendulum dancer tension regulate devices and so on are proposed and designed to satisfy the demands of the multi-layer angle-interlock carbon-fiber weaving machine.(2) The multi-layer warp system is large-span, nonlinearity, time-variability and multi-variable, in which there is coupling effect between tension and velocity of the multi layer warps. The dynamic models focused on take-up, shed opening, tension control device and let-off are established to lay the foundation for the following proposals.(3) The warp tension control is the core technology of the multi-shaft warp system.The decentralized tension system for multi layer warps is proposed based on the dynamic model and weaving processing. The hybrid method is composed by the iterative learning control, the model reference adaptive control. This hybrid control method is firstly applied to the large-span multi-roller warp system.(4) The dual bus composed by the CAN bus and input/output bus is proposed. Several high-speed and parallel processing special controllers are developed for the electro mechanical control system. This control system ensures high-speed dynamic coordination ofthesixty warp rollers.(5) The coordinated control algorithms based on virtual reference axis is presented to satisfy the demands of multi-shaft warp system.Finally, many experiments and analyses are made to testify the proposed results and control methods on the multi-layer angle-interlock carbon-fiber weaving machine. The whole warp tension control system has been validated and achieved. Both the hardware and the control software show good performance. The multi-shaft warp system can used to solve the problems of the warp tension control and multi-shaft coordinated motion control. The whole machine runs well.