铺放头控制系统的研究
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摘要
先进树脂基复合材料由于其综合性能优异，在航空航天领域已变得不可或缺。而复合材料成型技术具有一次成型、强度高等特点，因而在技术和经济效益上具有突出的优势。随着复合材料应用范围的扩大，铺放技术应运而生，铺放就是通过使用压紧辊或压紧头按照一定规律把纤维束或纤维带直接压在模具表面上。它在具有小曲率大曲面的零件制造上有十分重大意义，比如机翼的制造，它将提高生产率和工艺水平。
要实现带铺放技术必须使用带铺放机，铺放头是带铺放机的重要组成部分。要完成铺放动作，铺放头需完成放卷、收卷、加热、测速、压紧、剪切铺放带、铺放头旋转的功能。本文利用计算机控制系统的形式实现铺放头的控制。
在一个运动控制系统中控制器和执行机构是系统中举足轻重的两个组成部分。执行机构是完成铺放头功能的执行器件，如磁粉制动器用来实现放卷功能，直流力矩电机用来实现收卷功能。在对基于PC的三种开放体系结构模型的研究分析后，选择以PC+PMAC(可编程多轴运动控制卡)为体系结构方案建立了开放式数控系统，计算机的CPU作为主CPU而PMAC作为从CPU，通过PC的PC-104总线和DPRM来实现主从处理器之间的通讯。系统以PMAC作为控制器，两个CPU各自实现相应的功能，PMAC以PC为软硬件平台，进行插补、位置控制等实时控制；PC机完成管理、监控等非实时性任务。
针对铺放头控制系统的运动控制的特殊要求，开发了具有特点的运动程序、PLC程序，利用VC6.0开发了简单合理的人机界面。
Advanced resin matrix composite materials have been widely applied in aviation and aerospace fields for their excellent performance. For the reason that filament forming technology of composite materials has a characteristic of once-for-all forming and high strength, it has an outstanding advantage in technical and economical competences. As the range of the application of the composite materials expands, the technique of fiber placement emerges as the times require . Placement techniques is place the fibers or tape on the surface of tool in accordance with some regulations, through directly compaction pressure provided by compaction roller or shoe .It has a great significance in production of part with little curvature big contour, such as wings of plane, it enhance the productivity and level of craftwork. The problem of automatically forming more complex composite parts has been solved to some extent by tape laying machines. The paper design a new form of control of the tape placement.
In a control system upper control unit and execution mechanism are two important constitute. Execution mechanism is applied as execution apparatus to fulfill the function of the tape placement. For example make use of the magnetism arrester for the function of deliver tape, and DC moment electromotor for the function of receive tape. Based on the analysis of the three kinds of the PC based open system structure model, we chose the PC-PMAC (Programmable multi-axes controller) as architecture to establish the control system. Computer acts as master CPU and PMAC acts as slave CPU, and the communication between master CPU and slave one is achieved by PC-104 bus. The controller is PMAC, two CPU separately do their own function. PMAC takes PC as soft and hard platform, process real-time tasks such as interpolation and position control while PC take the part of non real-time tasks of management and watch-out.
Considering the special needs of the control systems of tape placement head, exploit the featured movement control program and PLC program, and use the VC++ for development of the simple but reasonable man-machine interface of the NC software.
要实现带铺放技术必须使用带铺放机，铺放头是带铺放机的重要组成部分。要完成铺放动作，铺放头需完成放卷、收卷、加热、测速、压紧、剪切铺放带、铺放头旋转的功能。本文利用计算机控制系统的形式实现铺放头的控制。
在一个运动控制系统中控制器和执行机构是系统中举足轻重的两个组成部分。执行机构是完成铺放头功能的执行器件，如磁粉制动器用来实现放卷功能，直流力矩电机用来实现收卷功能。在对基于PC的三种开放体系结构模型的研究分析后，选择以PC+PMAC(可编程多轴运动控制卡)为体系结构方案建立了开放式数控系统，计算机的CPU作为主CPU而PMAC作为从CPU，通过PC的PC-104总线和DPRM来实现主从处理器之间的通讯。系统以PMAC作为控制器，两个CPU各自实现相应的功能，PMAC以PC为软硬件平台，进行插补、位置控制等实时控制；PC机完成管理、监控等非实时性任务。
针对铺放头控制系统的运动控制的特殊要求，开发了具有特点的运动程序、PLC程序，利用VC6.0开发了简单合理的人机界面。
Advanced resin matrix composite materials have been widely applied in aviation and aerospace fields for their excellent performance. For the reason that filament forming technology of composite materials has a characteristic of once-for-all forming and high strength, it has an outstanding advantage in technical and economical competences. As the range of the application of the composite materials expands, the technique of fiber placement emerges as the times require . Placement techniques is place the fibers or tape on the surface of tool in accordance with some regulations, through directly compaction pressure provided by compaction roller or shoe .It has a great significance in production of part with little curvature big contour, such as wings of plane, it enhance the productivity and level of craftwork. The problem of automatically forming more complex composite parts has been solved to some extent by tape laying machines. The paper design a new form of control of the tape placement.
In a control system upper control unit and execution mechanism are two important constitute. Execution mechanism is applied as execution apparatus to fulfill the function of the tape placement. For example make use of the magnetism arrester for the function of deliver tape, and DC moment electromotor for the function of receive tape. Based on the analysis of the three kinds of the PC based open system structure model, we chose the PC-PMAC (Programmable multi-axes controller) as architecture to establish the control system. Computer acts as master CPU and PMAC acts as slave CPU, and the communication between master CPU and slave one is achieved by PC-104 bus. The controller is PMAC, two CPU separately do their own function. PMAC takes PC as soft and hard platform, process real-time tasks such as interpolation and position control while PC take the part of non real-time tasks of management and watch-out.
Considering the special needs of the control systems of tape placement head, exploit the featured movement control program and PLC program, and use the VC++ for development of the simple but reasonable man-machine interface of the NC software.
引文
[1] 冷兴武．玻璃钢工艺学[M]．武汉工业大学出版社．1996
[2] 刘雄亚，谢怀勤．复合材料工艺及设备[M]．武汉：武汉工业大学出版社，1994．1～3
[3] 冷兴武，王文达，张立国．缠绕工艺[M]．武汉：武汉工业大学出版社，1995．
[4] 李勇．复合材料纤维铺放技术及其应用[J]．纤维复合材．2002，9(3)：39～42
[5] 安鲁陵，许斌．复合材料纤维铺放自动编程技术研究[J]．工程设计学报．2005，4 12(2)；80～83
[6] 华东工学院等主编．玻璃钢机械与设备[M]．北京：中国建筑工业出版社 1987．1
[7] Michael N. Grimshaw. Cincinnati Machine Automated Tape Laying [J]. Manufacturing Processes, 2002, 7(9)479～485
[8] Klein Allen J.: Automated Tape laying[J]. Advanced Composites, Jan/Feb. 1989: 44～52
[9] Dawn K. Russell, "INCORPORATING ENVIRONMENTAL ISSUES IN A FILAMENT WINDING COMPOSITE MANUFACTURING SYSTEM SIMULATION", 1998 Winter Simulation Conference
[10] 熊清平．数控技术的发展趋势[Z]．国家数控系统工程技术研究中心．1994
[11] 赖国庭，吴玉厚，富大伟．开放式数控系统的发展及性能研究[J]．机械与电子，2003，(2)．
[12] 周祖德，魏仁选等．开放式控制系统的现状、趋势与对策[J]．中国机械工程．1999，10(10)：1090～1093
[13] 谢明．基于PC平台的开放式机床数控系统[J]．昭阳学院学报 2004(3)．
[14] R. E. Chalmer. Open architecture CNC continues advancing Manufacturing Engineering[J]. 2001, 126(7): 48～52
[15] Markus Ahrens Vishal Mallick Karl "Parfrey Robotic Based Thermo plastic Fiber Placement Process" [J]. May 1998 International Conference on Robotics & Automation May 1998, IEEE, 1148～1153
[16] P. F. Pirrung, Flat Tape Laying, Engineered Materials Handbook [J], Composites ASM International, 1987(1), 624～630
[17] B. Johnson, V. Mallick, F. Meynard: Method and Apparatus for Heating Thermoplastic Composite Tapes, German Patent Application Number 19626662.3
[18] 田会方 崔为勇．铺放过程中纤维带切割机构设计及仿真[J]．机械制造，2007，12
[19] Aills. Automation of carbon fiber prefers manufacture for affordable aerospace applications [J].Coposites. 2001, 32(8): 955～1000.
[20] 刘雄亚 谢怀勤．复合材料工艺及设备[M]．武汉：武汉理工大学出版社，1997
[21] 刘恒娟．基于PMAC的开放式数控系统的研究[J] 组合机床与自动化．加工技术，2004，(2)：84～86
[22] PMAC2 User Manual. Delta Tau Data System, Inc. 2004.
[23] Pwin32 Pro2 Software. Delta Tau Data System, Inc. 2005.
[24] Pcomm32Pro Software Manual. Delta Tau Data System Inc. 2003
[25] 王隆太，等．基于PMAC开放式数控系统的开发研究[J]．扬州大学学报 2003(2)．
[26] Charles U. Microprocessor System Design for Control Oriented Project [J]. Journal of microcomputer Applications, 1992, 49(15): 241～252
[27] 李伟 魏洪兴 刘敬猛．交流伺服在数控中的应用[J]．伺服系统．2006．1，20～22
[28] 李正军．计算机测控系统设计与应用．北京：机械工业出版社，2004
[29] 刘毅．基于PMAC的微小型机床数控系统的研究：[硕士学位论文]．哈尔滨：哈尔滨工业大学，2006
[30] 唐小会．基于PC的开放式数控系统的研究与开发：[硕士学位论文]．成都：电子科技大学，2003
[31] Pewin32 PRO Software Reference Manual. Delta Tau Data Systems Inc. 2003
[32] Turbo PMAC User Manual. Delta Tau Data Systems Inc. 2004: 71～92
[33] 徐静．基于PC机的通用数控系统的开发及在普通车床上的应用：[硕士学位论文]．南宁：电子科技大学，2002
[34] 温希祝．应用软件系统人机界面设计的探索[J]．贵州大学学报 自然科学版 2005．8：260～264
[35] 许或青，颜声远．数控机床人机界面设计原则初探．2004，12：118～119
[36] 曾金芳．基于运动控制卡的数控切绘机控制系统：[硕士学位论文]．湘潭：湘潭大学，2006
[37] 潘敏．开放式数控系统控制软件的研究与开发：[硕士学位论文]．杭州：浙江大学，2006
[38] 黄家善．计算机数控技术[M]．北京：机械工业出版社，2004
[39] Walter Savitch. Problem Solving with C++: The Object of Prorating(4th Edition)[M]. Tsinghua University Press, 2003
[40] 胡皓 周妮娜．基于Visual C++的运动系统开发[J]．伺服系统 2006．7，32～34
[41] Microsoft. MicrosoftVisualC++6.0MFCLibraryReference[EB/OL]. Microsoft Press, 1999.
[42] 岳博．数控纤维缠绕机控制系统的软件开发：[硕士学位论文]．哈尔滨：哈尔滨工业大学，2006
[43] 邓星钟等．机电传动控制[M]．武汉：华中科技大学出版社，2002
[44] 潘新民 王燕芳 微型计算机控制技术[M]．北京：电子工业出版社，2003
[45] Bjarne Stroustrup. The C++ Programming Language[M]. Addison Wesley, 1998.
[46] Herb Sutter. More Exceptional C++[M]. Addsion Wesley, 2001.
[2] 刘雄亚，谢怀勤．复合材料工艺及设备[M]．武汉：武汉工业大学出版社，1994．1～3
[3] 冷兴武，王文达，张立国．缠绕工艺[M]．武汉：武汉工业大学出版社，1995．
[4] 李勇．复合材料纤维铺放技术及其应用[J]．纤维复合材．2002，9(3)：39～42
[5] 安鲁陵，许斌．复合材料纤维铺放自动编程技术研究[J]．工程设计学报．2005，4 12(2)；80～83
[6] 华东工学院等主编．玻璃钢机械与设备[M]．北京：中国建筑工业出版社 1987．1
[7] Michael N. Grimshaw. Cincinnati Machine Automated Tape Laying [J]. Manufacturing Processes, 2002, 7(9)479～485
[8] Klein Allen J.: Automated Tape laying[J]. Advanced Composites, Jan/Feb. 1989: 44～52
[9] Dawn K. Russell, "INCORPORATING ENVIRONMENTAL ISSUES IN A FILAMENT WINDING COMPOSITE MANUFACTURING SYSTEM SIMULATION", 1998 Winter Simulation Conference
[10] 熊清平．数控技术的发展趋势[Z]．国家数控系统工程技术研究中心．1994
[11] 赖国庭，吴玉厚，富大伟．开放式数控系统的发展及性能研究[J]．机械与电子，2003，(2)．
[12] 周祖德，魏仁选等．开放式控制系统的现状、趋势与对策[J]．中国机械工程．1999，10(10)：1090～1093
[13] 谢明．基于PC平台的开放式机床数控系统[J]．昭阳学院学报 2004(3)．
[14] R. E. Chalmer. Open architecture CNC continues advancing Manufacturing Engineering[J]. 2001, 126(7): 48～52
[15] Markus Ahrens Vishal Mallick Karl "Parfrey Robotic Based Thermo plastic Fiber Placement Process" [J]. May 1998 International Conference on Robotics & Automation May 1998, IEEE, 1148～1153
[16] P. F. Pirrung, Flat Tape Laying, Engineered Materials Handbook [J], Composites ASM International, 1987(1), 624～630
[17] B. Johnson, V. Mallick, F. Meynard: Method and Apparatus for Heating Thermoplastic Composite Tapes, German Patent Application Number 19626662.3
[18] 田会方 崔为勇．铺放过程中纤维带切割机构设计及仿真[J]．机械制造，2007，12
[19] Aills. Automation of carbon fiber prefers manufacture for affordable aerospace applications [J].Coposites. 2001, 32(8): 955～1000.
[20] 刘雄亚 谢怀勤．复合材料工艺及设备[M]．武汉：武汉理工大学出版社，1997
[21] 刘恒娟．基于PMAC的开放式数控系统的研究[J] 组合机床与自动化．加工技术，2004，(2)：84～86
[22] PMAC2 User Manual. Delta Tau Data System, Inc. 2004.
[23] Pwin32 Pro2 Software. Delta Tau Data System, Inc. 2005.
[24] Pcomm32Pro Software Manual. Delta Tau Data System Inc. 2003
[25] 王隆太，等．基于PMAC开放式数控系统的开发研究[J]．扬州大学学报 2003(2)．
[26] Charles U. Microprocessor System Design for Control Oriented Project [J]. Journal of microcomputer Applications, 1992, 49(15): 241～252
[27] 李伟 魏洪兴 刘敬猛．交流伺服在数控中的应用[J]．伺服系统．2006．1，20～22
[28] 李正军．计算机测控系统设计与应用．北京：机械工业出版社，2004
[29] 刘毅．基于PMAC的微小型机床数控系统的研究：[硕士学位论文]．哈尔滨：哈尔滨工业大学，2006
[30] 唐小会．基于PC的开放式数控系统的研究与开发：[硕士学位论文]．成都：电子科技大学，2003
[31] Pewin32 PRO Software Reference Manual. Delta Tau Data Systems Inc. 2003
[32] Turbo PMAC User Manual. Delta Tau Data Systems Inc. 2004: 71～92
[33] 徐静．基于PC机的通用数控系统的开发及在普通车床上的应用：[硕士学位论文]．南宁：电子科技大学，2002
[34] 温希祝．应用软件系统人机界面设计的探索[J]．贵州大学学报 自然科学版 2005．8：260～264
[35] 许或青，颜声远．数控机床人机界面设计原则初探．2004，12：118～119
[36] 曾金芳．基于运动控制卡的数控切绘机控制系统：[硕士学位论文]．湘潭：湘潭大学，2006
[37] 潘敏．开放式数控系统控制软件的研究与开发：[硕士学位论文]．杭州：浙江大学，2006
[38] 黄家善．计算机数控技术[M]．北京：机械工业出版社，2004
[39] Walter Savitch. Problem Solving with C++: The Object of Prorating(4th Edition)[M]. Tsinghua University Press, 2003
[40] 胡皓 周妮娜．基于Visual C++的运动系统开发[J]．伺服系统 2006．7，32～34
[41] Microsoft. MicrosoftVisualC++6.0MFCLibraryReference[EB/OL]. Microsoft Press, 1999.
[42] 岳博．数控纤维缠绕机控制系统的软件开发：[硕士学位论文]．哈尔滨：哈尔滨工业大学，2006
[43] 邓星钟等．机电传动控制[M]．武汉：华中科技大学出版社，2002
[44] 潘新民 王燕芳 微型计算机控制技术[M]．北京：电子工业出版社，2003
[45] Bjarne Stroustrup. The C++ Programming Language[M]. Addison Wesley, 1998.
[46] Herb Sutter. More Exceptional C++[M]. Addsion Wesley, 2001.