Design Of Winding Control System For Dry Fiber Reinforced Pressure Vessel

Resin-based composite pressure vessels have the advantages of light weight,corrosion resistance,fatigue resistance,etc.,and have been used in aerospace,military,energy industry and other fields.However,the resin matrix composite container is prone to failure of the resin matrix under impact load,which severely limits its application in mobile,impact environment and other fields.In order to improve the impact resistance of composite pressure vessels,dry fiber winding without resin can be used to reinforce the pressure vessel.However,different from the traditional wet fiber winding structure,dry fiber winding does not have the resin matrix to infiltrate,bond and transfer the stress to the fiber.The molding process raises the accuracy of the fiber drop point and the stability of the fiber tension.Higher requirements,so this article studies the molding process and control system of a new type of resin-free dry fiber pressure vessel composed of a plastic elastic inner liner,a dry fiber winding reinforcement layer,and an outer protective layer.In order to realize the structural design and stable winding forming of dry fiber reinforced pressure vessels,a dry fiber winding pressure vessel workstation based on a six-degree-of-freedom industrial robot was designed.In order to ensure that the fiber can track the pre-set doffing point trajectory stably and accurately during the winding process of the robot,first analyze the basic line type of the fiber winding and the necessary conditions for stable winding,and design the doffing on the surface of the pressure vessel body and the head section.Point trajectory: According to the trajectory of the doffing point,use MATLAB software to simulate the robot operation trajectory,analyze the influence of four different envelope forms and the length of the hanging yarn on the trajectory of the end of the robot,so as to obtain an optimized pressure vessel winding robot Job trajectory.The stability of the dry fiber tension has a greater impact on the accuracy of the fiber doffing point trajectory and the mechanical properties of the dry fiber pressure vessel.The precise and stable tension can effectively enhance the internal pressure and fatigue resistance of the wound pressure vessel.Therefore,the control of dry fiber tension during the winding process also puts forward higher requirements.In this paper,the tension control in the filament winding process has multiple disturbances,time-varying,nonlinear and other problems.By analyzing the causes of tension fluctuations in the dry filament winding,the unwinding side torque balance equation is established,and the speed,winding diameter,acceleration and other factors are analyzed.The dynamic performance of tension is affected,and the pendulum mechanism is used to buffer the tension disturbance.In order to improve the problem of poor tension control adaptability in traditional PID control methods,a control strategy combining PID control and fuzzy control is proposed,and an improved genetic algorithm is used to optimize the parameters of the fuzzy PID controller to improve the adaptability and accuracy of dry fiber winding tension control.Finally,build a dry fiber reinforced pressure vessel robot winding and tension control experimental platform based on KUKA robots and Siemens PLC,and design fiber winding and tension control upper and lower computer programs.Through the dry fiber pressure vessel winding operation trajectory optimization experiment and tension control experiment,the feasibility of the dry fiber winding process is verified,and the effectiveness of the trajectory optimization method and tension control algorithm proposed in this paper are provided,which provides a reference for the molding of dry fiber reinforced pressure vessels...