Research On Collaborative Control Strategy Of Pultrusion System Based On Braided Composite Pipe

At present,in the actual production of composite pipe braiding-winding-pultrusion,to ensure the quality of composite pipe pultrusion products,it is necessary to accurately control the braiding process and pultrusion process.The braiding-winding-pultrusion control system has the characteristics of multiple variables,nonlinearity and strong coupling,the establishment method of its mathematical model is complex,and the selection of its control algorithm and collaborative control strategy directly affects the response speed and synchronization performance of the system,thereby affecting the braiding quality of the preform,and finally affecting the comprehensive performance of the product.This paper takes the braiding-winding-pultrusion production line of an enterprise in Jiangsu as the research object,and studies the collaborative control strategy of pultrusion of braided composite pipes,which has positive significance for improving the efficiency of the production line.The main research contents are as follows.(1)Aiming at the problem of stuttering caused by uneven load of multiple motors in the production process of fiber-reinforced composite pipe fittings,a mathematical model of the braiding machine motor unit is established,and a dynamic load sharing control method based on model predictive control(MPC)is proposed,which is applied to the braiding machine motor unit,and Simulink simulation and field experiment are carried out.The simulation and experimental results show that this control strategy can control the output torque deviation within 0.2 N·m under the premise of meeting the speed requirements,which effectively prevents the occurrence of problems such as stuttering of the braiding machine.(2)Aiming at the problem of low collaborative working accuracy of braiding machine speed,winding machine speed and traction speed caused by the lack of direct physical connection between braiding machine,winding machine and traction device in the production process,an integrated mathematical model of braiding-winding-pultrusion is established,and a coupling control method based on proportional collaborative deviation is proposed,which is applied to the braiding-winding-pultrusion production line,and Simulink simulation and field experiments are carried out.The simulation and experimental results show that the control strategy enables the independent braiding machine,winding machine and traction device to meet the coordination requirements within 0.08 s,which ensures the collaborative working accuracy of the braiding-windingpultrusion system,improves the stability of the braiding angle and the comprehensive performance of the composite products.(3)In view of the problems of yarn breakage and yarn-free in the process of braiding preforms,this paper designs a yarn detection system instead of on-site manual detection according to the structure of the spindle,the yarn winding principle of the fiber cylinder and the difference between the color of the fiber cylinder and the yarn,and the hardware selection and on-site installation experiments are carried out.Field tests show that the yarn detection system can detect yarn breakage or yarn-free abnormalities in time,which verifies the feasibility of the yarn detection system.(4)This paper integrates the design of the control system of braiding machine,winding machine and traction device,designs the functional module layout and operation convenience of the human-computer interaction interface,and the operation panel is simple and easy to understand,which is convenient for the actual operation of on-site operators and improves the production efficiency of the braiding-winding-pultrusion production line.