基于Trio的夹砂玻璃钢管缠绕机控制系统研制
摘要
夹砂玻璃钢管道是20世纪70年代在世界上出现的一种新型管道,是以玻璃纤维、热固性塑料及石英砂为主要原材料采用一定的工艺方法所制造而成。纤维缠绕机是夹砂玻璃钢管生产工艺中的关键设备,早期的缠绕机为机械式缠绕机,随着现代计算机技术和控制技术的发展,开始将计算机控制技术应用于纤维缠绕机,从而产生了微机控制型缠绕机,这是缠绕机设备和技术上的一次飞跃。
本文主要分析夹砂玻璃钢管缠绕机控制系统的系统组成,确定了缠绕控制系统要求。讨论了玻璃钢管道缠绕线型、缠绕规律和缠绕线型误差产生原因,并给出了相应的数学模型,提出了简化的缠绕方式,分析了缠绕加工工艺。分别选用变频控制系统和伺服控制系统作为夹砂玻璃钢管缠绕机主轴和小车的驱动控制系统。结合Trio运动控制器,设计了速度控制方式和位置伺服系统的控制算法。以小车为控制对象,主轴采用速度闭环,小车采用半闭环位置伺服系统。从而构建了基于Trio运动控制器的夹砂玻璃钢管缠绕机控制系统。采用Trio BASIC语言编制运动控制软件,实现对伺服电机的精确位置控制,实时性好,设计了针对缠绕规律的电子齿轮和轴链接函数,并进行了封装,极大的方便了用户。Visual C++软件编制了在Window XP环境下的夹砂玻璃钢管缠绕机控制系统的软件,操作方便、人机交互性能好。
Reinforced Plastic Mortar (RPM) pipe is a new kind of pipe occurred in 1970s,it is being spread in present time.This kind of pipe is made up of glass fibers,thermosetting plastic and quartz sand by certain technology.Winding machine is the key device in the production of RPM pipe.The winding machine in the previous years is a kind of mechanical winding machine.Because of the development of the modern computer technology and control technology,the technology of computer control is applied in the winding machine and the computer control winding machine is produced.This is a leap of the winding device and technology.
In this paper,the control system requirements of RPM pipe winding machine are determined after the system structure of winding machine control system is analyses.The winding patterns and winding laws of RPM, reasons for the error caused in winding patterns is discussed,the corresponding mathematic models are built and simplified winding pattern is proposed in this paper.Analyze the processing technology of winding.The project chose the variable-frequency control system and servo control system as the drivers of the spindle and carriage of the RPM pipe winding machine,use carriage as study object, spindle used velocity controlling system, carriage used half closing cycling servo controlling system.Combined with trio motion controller,speed control method and position servo system are designed.The winding machine control system of RPM pipe based on trio motion coordinator has been built.The control software programmed by Trio BASIC is used to realize the accurate position control of the servo motor , and it has good real-time property.The system control soft of RPM’s winding machine control system based on trio motion coordinator is programmed by Visual C++ and the theory analysis for winding principle and design electronic gear, axis linking function and encapsulate them, convenience of users.It runs on Windows XP,and has good human-machine interface and be convenient for operation.
本文主要分析夹砂玻璃钢管缠绕机控制系统的系统组成,确定了缠绕控制系统要求。讨论了玻璃钢管道缠绕线型、缠绕规律和缠绕线型误差产生原因,并给出了相应的数学模型,提出了简化的缠绕方式,分析了缠绕加工工艺。分别选用变频控制系统和伺服控制系统作为夹砂玻璃钢管缠绕机主轴和小车的驱动控制系统。结合Trio运动控制器,设计了速度控制方式和位置伺服系统的控制算法。以小车为控制对象,主轴采用速度闭环,小车采用半闭环位置伺服系统。从而构建了基于Trio运动控制器的夹砂玻璃钢管缠绕机控制系统。采用Trio BASIC语言编制运动控制软件,实现对伺服电机的精确位置控制,实时性好,设计了针对缠绕规律的电子齿轮和轴链接函数,并进行了封装,极大的方便了用户。Visual C++软件编制了在Window XP环境下的夹砂玻璃钢管缠绕机控制系统的软件,操作方便、人机交互性能好。
Reinforced Plastic Mortar (RPM) pipe is a new kind of pipe occurred in 1970s,it is being spread in present time.This kind of pipe is made up of glass fibers,thermosetting plastic and quartz sand by certain technology.Winding machine is the key device in the production of RPM pipe.The winding machine in the previous years is a kind of mechanical winding machine.Because of the development of the modern computer technology and control technology,the technology of computer control is applied in the winding machine and the computer control winding machine is produced.This is a leap of the winding device and technology.
In this paper,the control system requirements of RPM pipe winding machine are determined after the system structure of winding machine control system is analyses.The winding patterns and winding laws of RPM, reasons for the error caused in winding patterns is discussed,the corresponding mathematic models are built and simplified winding pattern is proposed in this paper.Analyze the processing technology of winding.The project chose the variable-frequency control system and servo control system as the drivers of the spindle and carriage of the RPM pipe winding machine,use carriage as study object, spindle used velocity controlling system, carriage used half closing cycling servo controlling system.Combined with trio motion controller,speed control method and position servo system are designed.The winding machine control system of RPM pipe based on trio motion coordinator has been built.The control software programmed by Trio BASIC is used to realize the accurate position control of the servo motor , and it has good real-time property.The system control soft of RPM’s winding machine control system based on trio motion coordinator is programmed by Visual C++ and the theory analysis for winding principle and design electronic gear, axis linking function and encapsulate them, convenience of users.It runs on Windows XP,and has good human-machine interface and be convenient for operation.
引文
1.周仕刚,沈碧霞.我国RPM管的发展现状[J].上海建材,1995,(6):4～8.
2.唐群.缠绕式玻璃纤维增强夹砂管的设计与应用[J].中国市政工程,2001,(S1):20～23.
3.张双娣,性能优异的夹砂玻璃钢管[J].广东建材,2005,(8):8～9.
4.胡冰,刘晓静,吴耀楚.纤维缠绕及传动系统计算机设计研究[J].工程塑料应用,2000,(12):13～15.
5. HAEL L . Trends , Advances and Innovations in Filament Winding[J].Reinforced Plastics,2006,50(2):28～33.
6. XU J Z,YOU B,JIA D L,et al.Fuzzy-PID based Synchronous Motion Control and Simulation of Winding Machine[C].Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering ,Vol.26No.SUPPL,December,2006:114~118.
7. WACKERLE P M , WETTER R . Range of Application in Filament Winding[J].Industrial and Production Engineering,1986,10(3):37~45.
8. SHEN F C.A Filament-Wound Structure Technology Overview[J].Materials Chemistry and Physics,1995,42(2):96~100.
9. GREEN J E. Overview of Filament Winding[J].SAMPE Journal,2001,37(1):7~11.
10. Abdel F . Filament Winding of Revolution Structures[J] . Journal of Reinforced Plastics and Composites,2005,24(8):855~868.
11. Imamura T.Development of Hoop Filament Winding System with Tension Control[J].Transactions of the Japan Society of Mechanical Engineers Part C,2003,69(4):906～13.
12. Imamura T and Kuroiwa T.Design and Tension Control of Filament Winding System[J].1999 IEEE International Conference on Systems,Man,and Cybernetics,1999,2:660～670.
13.冷兴武.纤维缠绕原理[M].济南:东科学技术出版社,1990:15~21.
14.刘良森,谢霞,邱冠雄等.多向纤维缠绕机缠绕线型及其控制系统的设计[J].玻璃钢/复合材料,2006,(3):35～38.
15.尹秀云,杨德旭等.三轴纤维缠绕机自动控制系统的设计[J].工业控制计算机,2006,19(9):27～28.
16.王春香,王永章,路华等.精密张力控制系统及其控制精度的研究[J].仪器仪表学报,2000,21(4):407～408.
17.王世寰,王永章,路华等.数控缠绕机张力在线检测系统的设计[J].中国机械工程,2002,13(24):2091～2093.
18.朱松青,史金飞,伍斌等.数控纤维缠绕机精密张力控制系统[J].自动化仪表,2004,25(5):60～63.
19.徐东亮,吴耀楚,刘雪红.纤维缠绕张力微机控制系统[J].武汉理工大学学报,2003,25(10):71～73.
20.田会方,杨岳,周洋.基于Internet的纤维缠绕机远程监控系统[J],武汉理大学学报,2003,25(7):57～59.
21.朱晓明,王永章,富宏亚等.基于网络的纤维缠绕机远程监控关键技术研究[J].计算机集成制造系统,2005,11(2):265～269.
22.陈静.纤维缠绕机计算机控制系统的设计与实现[D].天津工业大学硕士论文,2005:5～8.
23.郑华杰,姚正东,岳秋林.新型管材(RPM)在市政工程中的应用[J].广东水利水电,2005,(S1):44～45.
24.韩晓军.纤维缠绕机出现线型误差的原因分析[J].武汉理工大学学报2001,23(10):63～66.
25.娄小杰,吴小青.日本富士化工(株)的缠绕规律及其应用[J].纤维复合材料,1999,(1):15～18.
26.田会方,李昕,恽玮.现场总线型企业网在纤维缠绕控制系统中的应用.制造业自动化,2001,(12):55～57.
27.张父承.纤维缠绕圆柱体端部布线、超长与中心转角研究[J].纤维复合材料,2001,(3):31～34.
28.安连祥,李军华.玻璃钢缠绕控制系统的设计[J].控制工程,2002,(5):47～48.
29.夏青,封士玉.单片微机控制纤维缠绕机[J].自动化技术与应用,2003,(9):49～52
30.胡学同,周杏鹏.基于模糊理论的纤维缠绕机双轴协调控制[J].测控技术, 2002,21(3):17～19.
31.胡学同,周杏鹏.纤维缠绕机台车速度跟踪控制方法研究[J].电气传动,2003,(1):55～57.
32.薛增涛,蒋蓓,李雯等.玻璃钢缠绕微机自适应控制系统的设计[J].河北科技大学学报,2003,24(4):48～52.
33. Trio Motion Technology. Motion coordinator technical reference manual-Sixth Edition[M].Trio Motion Technology,2005.
34.汪卫民,李银华,张劲.基于DSP+FPGA的开放式伺服运动控制器的研究[J].工业控制计算机,2006,19(1):58~59.
35.王玲,赵明光.纤维缠绕机的计算机控制系统设计[J].微计算机信息,2006,22(11):126,127,108.
36.张福承.油田用纤维缠绕玻璃钢管若干问题的思考[J].纤维复合材料,1996,(2):32~37.
37.吴耀楚,李立先.建材机械工程手册—第8篇,玻璃钢制品的缠绕成型机械[M].武汉工业大学出版社,1999:1124～1130
38.吴宏伟,陈在礼.缠绕机吐纱点运动分析[J].玻璃钢/复合材料,2003,(4):8~12.
39.吴耀楚,姚天海,郭柏林等.计算机控制纤维缠绕机概念设计[J].中国建材装备,1997,(3):37～40.
40.相玉芬,封惠敏.大力开发应用玻璃钢夹砂管道[J].玻璃钢/复合材料,2002,(6):33～36.
41.周晓珍.浅析玻璃钢夹砂管道优点和运用[J].玻璃钢/复合材料,2001,(1):35～36.
42.贾璞.夹砂玻璃钢管在水厂原水管工程中的应用[J].铁道勘测与设计,2005,(4):81～83.
43.吴美珍.夹砂玻璃钢管—一种性能优良的排水管材[J].江西建材,2005,(3):26～28.
44.郝红雨,张志刚.玻璃钢夹砂管道在排水工程中的应用[J].潍坊学院学报,2005,5(2):158～160.
45.杨虹,陈建中.FSMF在玻璃钢夹砂管道中的应用研究[J].武汉理工大学学报,2004,26(10):15～17.
46. Abdalla F H,Mutasher S A,Khalid Y A,et al.Design and Fabrication of Low Cost Filament Winding Machine[J].Materials and Design,2007,28(1):234～239.
2.唐群.缠绕式玻璃纤维增强夹砂管的设计与应用[J].中国市政工程,2001,(S1):20～23.
3.张双娣,性能优异的夹砂玻璃钢管[J].广东建材,2005,(8):8～9.
4.胡冰,刘晓静,吴耀楚.纤维缠绕及传动系统计算机设计研究[J].工程塑料应用,2000,(12):13～15.
5. HAEL L . Trends , Advances and Innovations in Filament Winding[J].Reinforced Plastics,2006,50(2):28～33.
6. XU J Z,YOU B,JIA D L,et al.Fuzzy-PID based Synchronous Motion Control and Simulation of Winding Machine[C].Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering ,Vol.26No.SUPPL,December,2006:114~118.
7. WACKERLE P M , WETTER R . Range of Application in Filament Winding[J].Industrial and Production Engineering,1986,10(3):37~45.
8. SHEN F C.A Filament-Wound Structure Technology Overview[J].Materials Chemistry and Physics,1995,42(2):96~100.
9. GREEN J E. Overview of Filament Winding[J].SAMPE Journal,2001,37(1):7~11.
10. Abdel F . Filament Winding of Revolution Structures[J] . Journal of Reinforced Plastics and Composites,2005,24(8):855~868.
11. Imamura T.Development of Hoop Filament Winding System with Tension Control[J].Transactions of the Japan Society of Mechanical Engineers Part C,2003,69(4):906～13.
12. Imamura T and Kuroiwa T.Design and Tension Control of Filament Winding System[J].1999 IEEE International Conference on Systems,Man,and Cybernetics,1999,2:660～670.
13.冷兴武.纤维缠绕原理[M].济南:东科学技术出版社,1990:15~21.
14.刘良森,谢霞,邱冠雄等.多向纤维缠绕机缠绕线型及其控制系统的设计[J].玻璃钢/复合材料,2006,(3):35～38.
15.尹秀云,杨德旭等.三轴纤维缠绕机自动控制系统的设计[J].工业控制计算机,2006,19(9):27～28.
16.王春香,王永章,路华等.精密张力控制系统及其控制精度的研究[J].仪器仪表学报,2000,21(4):407～408.
17.王世寰,王永章,路华等.数控缠绕机张力在线检测系统的设计[J].中国机械工程,2002,13(24):2091～2093.
18.朱松青,史金飞,伍斌等.数控纤维缠绕机精密张力控制系统[J].自动化仪表,2004,25(5):60～63.
19.徐东亮,吴耀楚,刘雪红.纤维缠绕张力微机控制系统[J].武汉理工大学学报,2003,25(10):71～73.
20.田会方,杨岳,周洋.基于Internet的纤维缠绕机远程监控系统[J],武汉理大学学报,2003,25(7):57～59.
21.朱晓明,王永章,富宏亚等.基于网络的纤维缠绕机远程监控关键技术研究[J].计算机集成制造系统,2005,11(2):265～269.
22.陈静.纤维缠绕机计算机控制系统的设计与实现[D].天津工业大学硕士论文,2005:5～8.
23.郑华杰,姚正东,岳秋林.新型管材(RPM)在市政工程中的应用[J].广东水利水电,2005,(S1):44～45.
24.韩晓军.纤维缠绕机出现线型误差的原因分析[J].武汉理工大学学报2001,23(10):63～66.
25.娄小杰,吴小青.日本富士化工(株)的缠绕规律及其应用[J].纤维复合材料,1999,(1):15～18.
26.田会方,李昕,恽玮.现场总线型企业网在纤维缠绕控制系统中的应用.制造业自动化,2001,(12):55～57.
27.张父承.纤维缠绕圆柱体端部布线、超长与中心转角研究[J].纤维复合材料,2001,(3):31～34.
28.安连祥,李军华.玻璃钢缠绕控制系统的设计[J].控制工程,2002,(5):47～48.
29.夏青,封士玉.单片微机控制纤维缠绕机[J].自动化技术与应用,2003,(9):49～52
30.胡学同,周杏鹏.基于模糊理论的纤维缠绕机双轴协调控制[J].测控技术, 2002,21(3):17～19.
31.胡学同,周杏鹏.纤维缠绕机台车速度跟踪控制方法研究[J].电气传动,2003,(1):55～57.
32.薛增涛,蒋蓓,李雯等.玻璃钢缠绕微机自适应控制系统的设计[J].河北科技大学学报,2003,24(4):48～52.
33. Trio Motion Technology. Motion coordinator technical reference manual-Sixth Edition[M].Trio Motion Technology,2005.
34.汪卫民,李银华,张劲.基于DSP+FPGA的开放式伺服运动控制器的研究[J].工业控制计算机,2006,19(1):58~59.
35.王玲,赵明光.纤维缠绕机的计算机控制系统设计[J].微计算机信息,2006,22(11):126,127,108.
36.张福承.油田用纤维缠绕玻璃钢管若干问题的思考[J].纤维复合材料,1996,(2):32~37.
37.吴耀楚,李立先.建材机械工程手册—第8篇,玻璃钢制品的缠绕成型机械[M].武汉工业大学出版社,1999:1124～1130
38.吴宏伟,陈在礼.缠绕机吐纱点运动分析[J].玻璃钢/复合材料,2003,(4):8~12.
39.吴耀楚,姚天海,郭柏林等.计算机控制纤维缠绕机概念设计[J].中国建材装备,1997,(3):37～40.
40.相玉芬,封惠敏.大力开发应用玻璃钢夹砂管道[J].玻璃钢/复合材料,2002,(6):33～36.
41.周晓珍.浅析玻璃钢夹砂管道优点和运用[J].玻璃钢/复合材料,2001,(1):35～36.
42.贾璞.夹砂玻璃钢管在水厂原水管工程中的应用[J].铁道勘测与设计,2005,(4):81～83.
43.吴美珍.夹砂玻璃钢管—一种性能优良的排水管材[J].江西建材,2005,(3):26～28.
44.郝红雨,张志刚.玻璃钢夹砂管道在排水工程中的应用[J].潍坊学院学报,2005,5(2):158～160.
45.杨虹,陈建中.FSMF在玻璃钢夹砂管道中的应用研究[J].武汉理工大学学报,2004,26(10):15～17.
46. Abdalla F H,Mutasher S A,Khalid Y A,et al.Design and Fabrication of Low Cost Filament Winding Machine[J].Materials and Design,2007,28(1):234～239.