Research On Automatic Lamination Control Technology Of Glass Fiber Cloth For Wind Turbine Blade

At present,the laminating method of the glass fiber cloth in the domestic wind turbine blade manufacturing industry is mostly driving lifting roll assisted manual dragging for laminating operation.Due to the complex curved surface structure of the blade mold,it is very difficult to adjust the pose of the roll.The worker needs to manually manipulate the axle coordination to carry out the laminating operation.Therefore,the laminating speed is slow,the precision is low,and the glass fiber cloth is easy to be stained and dirty.In order to improve the quality of blade lamination,this paper developed a set of wind turbine blade glass fiber cloth automatic lamination control technology from the key factors affecting the quality of lamination: roll pose and multi-axis coordinated control,aiming to meet the technological requirements of blade lamination in theory and practice.The main research contents of this paper include the following aspects:(1)According to the design requirements of blade lamination process,the overall design scheme of glass fiber cloth automatic lamination is proposed.Based on D-H method,the kinematic model of the laminating system is established.The forward solution,inverse solution and the pose error of the roll are analyzed.It reveals the influence between the pose of the roll and the moving and rotating axis.The mathematical model of the AC permanent magnet synchronous servo motor is constructed,and the SimMechanics module is used in Matlab/Simulink to analyze the kinematics model of the lamination system without control algorithm.The simulation results show that the contour error of the lamination system is within 40 mm and 4 degrees,respectively.The lamination precision is low and the anti-interference is poor.(2)Combined with the automatic lamination system of glass fiber cloth,a multi-axis coordinated control strategy based on robust adaptive cross-coupling control is proposed.The glass fiber cloth lamination path is obtained using the equidistant line method,and the space arc approximation is used to approximate the laminating path according to the principle of data sampling interpolation,which provides the basis for the calculation of the subsequent contour error.The calculation model of the contour error of the center position and the axial direction of the roll is established respectively,and the two contour errors are calculated by using the interpolation point,position error and attitude error respectively.The two kinds of contour errors are compensated by using the forward and inverse solutions of the roll pose.The compensation of contour errors is allocated to the moving and rotating axes,and the closed-loop control of contour error compensation is realized.Aiming at the problem of poor anti-interference of the system,the adaptive control system is constructed based on Narendra adaptive control theory.The adaptive law with strong robustness is designed and the stability of the control system is proved.The robust adaptive control is compared with the PID control,at the same time,the multi-axis coordinated control strategy of robust adaptive cross-coupling control is combined with the kinematics model of the lamination system to simulate and analyze.The simulation results show that the two contour errors are reduced,the response of the system is faster,and the lamination accuracy is improved.(3)The control system is developed according to the requirements of the laminating system,including the control system scheme,electrical system,pneumatic system and man-machine monitoring interface.The automatic laminating test platform of wind turbine blade glass fiber cloth is built,and the second layer outer skin automatic laminating test of SS surface is carried out on LZ59.5-2.0 blade to verify the effectiveness of the proposed robust adaptive cross-coupling control strategy.It shows that the two contour errors of the lamination system are in the range of 15 mm and 2 degree.The system has strong adaptability and robustness,and meets the technological requirements of blade lamination.