Introduction The Winding Machine developed in this paper is horizontal, with the mandrel placed horizontally. During winding, the mandrel rotates at a constant speed around its main shaft. The trolley motor drives the trolley to reciprocate along the axis of the mandrel, driving the wire winding nozzle to complete the winding and laying of fibers on the mandrel at a certain winding angle, which meets the technical requirements of the product.
Modular open CNC system has become the development direction of today's CNC technology. The winding control system in this paper adopts embedded multi-task motion controller to realize the synchronous motion control and winding logic control of the spindle and trolley.
Discussed the development of open-end winding machine numerical control system based on PC and TRIO motion controller. The control system of fiberglass winding machine structure. The winding machine consists of a main shaft that drives the rotation of the fiberglass core mold, a trolley and resin for arranging fiberglass on the core mold The curing agent supply system and other equipment. During the winding operation of the horizontal winding machine, the mandrel rotates at a constant speed around its main axis, and the trolley motor drags the trolley to reciprocate in the longitudinal direction on the worktable, driving the winding nozzle to complete the winding and laying of the fiber layer on the mandrel at a certain winding angle . When reciprocating, the trolley motor must be continuously accelerated and decelerated according to the process requirements, and the load of the trolley and the spindle changes with the change of the amount of winding rubber, which is likely to cause the relative position of the guide wire head and the core mold to change, resulting in linear variation Poor lap with yarn. The winding machine system is a non-linear time-varying position synchronous follow-up control system with large inertia changes. Therefore, the position tracking control method based on electronic gears is adopted to ensure that the yarn pieces overlap well. The electronic gear mode is actually a multi-axis linkage mode, and its motion effect is similar to the meshing motion of two mechanical gears. When the front axis works in the electronic gear mode, the electronic gear transmission ratio needs to be set. The current axis will follow the master axis movement according to this speed ratio. The motion mode of the master axis can be any motion mode. The current displacement increment of the shaft motion is equal to the displacement increment of the driving shaft associated with it multiplied by the electronic gear transmission ratio.
The structure of the winding machine control system is shown in Figure I. The host computer adopts Taiwan Advantech 1 PC 6 1 0 chassis and PC A 6 1 7 9 motherboard. It communicates with the MC 2 0 6 motion controller of the British Motion T echnology company through RS-232 serial port. Form a powerful open motion control system. The industrial PC is responsible for man-machine interface management, motion status display, remote monitoring, and process file storage. The motion controller is responsible for real-time motion control and logic control. The structure supports software upgrades and function expansion. It has two levels of openness: upper and lower levels. Sex.
The spindle motor of the winding machine is a 7.5 kW three-phase AC asynchronous motor, which is driven by the Yaskawa ICI MR—G 7 A 4 7 p 5 inverter. For the speed of the spindle motor, this system uses a closed-loop control mode with a large resistance to load changes. The analog output of the axis 3 interface of the motion controller is used as the speed control input signal of the inverter. In the open loop control state of the motion controller, the analog voltage output value is set to realize the speed control of the inverter. A C WZ 1 X rotary encoder installed on the input shaft of the transmission completes the detection of the rotation angle and speed of the main shaft. The frequency converter adopts the vector control mode with PG, the PG-X 2 speed card takes the signal sampled by the encoder as the input of the frequency converter to achieve speed closed-loop control, and the speed and position signals are input to the encoder interface of the controller 4 all the way. An encoder completes the functions of speed closed-loop control and spindle angular position sampling. The trolley uses Yaskawa SGMGH-4 4 ACA 6 1 servo motor to complete precise positioning. It reciprocates along the axial direction of the glass fiber reinforced plastic pipe, and tracks the spindle movement with a certain response speed and accuracy according to the winding law. The axis 0 interface works in the servo mode to complete the closed-loop control of the trolley servo motor. The feedback of the spindle encoder is connected to the MC 2 0 6 axis 4 interface, which is used as the input axis of the reference encoder and provides an encoder input for the synchronous movement of the trolley.
Winding machine control system software design The winding machine control system upper computer program adopts V C + + 6.0 of Microsoft Corporation, based on the Wi ndows 2 0 0 0 0 platform development, completes the process file setting and management, remote monitoring and machine tool operation status display and other functions . The industrial computer and MC 2 0 6 complete the download of process parameters and the upload and display of machine status parameters based on the MO DBUS protocol through the serial port.
The communication adopts the master-slave query mechanism. The system sets the industrial control computer as the master station and the MC 2 0 6 as the slave station. Only when the master station issues an inquiry, the slave station can give a response, and the slave station cannot actively send data. During work, the worker selects the type of pipe to be wound and downloads the process file, and enters the winding processing state. At this time, all the movement and logic control are completed, and the slave station only responds to the query of the master station and uploads the status data. Even if the industrial computer fails or crashes for some reason, it will not affect the current winding process of the pipeline. Thereby improving the stability of the system and the real-time control.
The motion control program is written in Trio BASIC multi-task language. The motion control program running on the PC can download the compiled motion control program into the MC 206 to run offline. Trio BASIC language has three different types of storage variables: named variables, VR () variables and TABLE area variables. Named variables are local variables and are only valid within the task that defines them.
Variables are global variables that can be shared by multiple tasks. It can be used for communication between tasks. The TABLE area is usually a storage area for storing CAM / command curves. This program is used to store the process file of the winding pipe model. The running user program is called a thread or task.
For complex multitasking programs, threads should be assigned priority. The default servo cycle of the controller is lms, which is divided into three time slices internally, each time slice is 1/3 ms, and they are used internally. To handle servo functions, communications, and the usual "housekee — 'task. The remaining time in each time slice is used to run the user program. MC 2 0 6 can run up to 7 user threads, each thread from l to The number label of 7 and the thread with the highest label (threads 7 and 6) are assigned a fixed time slice. They are called "fast tasks" and are mainly used for tasks that have the following requirements: to be processed in each servo cycle Tasks; tasks that have a lot of calculations and processing; tasks whose program execution speed cannot be changed after the task is started. 5 g-Threads are called "slow task", they have a common priority, and the program execution speed will vary with the task Increase and decrease. The user can use the instruction to start the task to run according to the specified priority.
Open a "T erminal" window in the host software Motion Perfect to set up a "Command Line" port, which always uses the "0" task, which is used to input commands from the host computer and run immediately. There are four tasks in the winding machine control software. Task 7 is used for winding machine motor motion control and machine tool logic control. Task 6 is used to manage the machine tool and winding related I / O signals and spindle speed control. Task 2 completes the serial port Communication function, task 1 to achieve glue control. The task functions and execution time allocation of the control program are shown in Figure 2. Among them, tasks 7 and 6 have the highest priority, each servo cycle (1 I ns) is assigned a time slice, tasks 1, 2 and / L) have the same priority, and each servo cycle is assigned a time slice in turn. The winding program task function and execution time allocation are shown in Figure 2.
The working state of winding machine processing control is divided into three states: manual, semi-automatic and automatic. The manual state is used to independently control the movement of the mandrel and the trolley. In the semi-automatic state, the mandrel and the trolley coordinately move for circumferential winding, and the length of the winding is controlled by the worker. In the automatic working state, the parameters can be set according to the process file to realize the hoop and spiral automatic winding. In addition, the control program also has functions such as zero point correction, automatic zero point, breakpoint winding and manual intervention in the winding process.
Conclusion The CNC system of the winding machine combines the advantages of an industrial PC and an embedded motion controller, and makes full use of the electronic gear function of the TRIO motion controller. The system can be automatically wound according to the process requirements, and has functions such as system operating status display, remote communication, fault diagnosis and alarm, and backlash compensation. The yarn width of the winding machine can be adjusted arbitrarily between 80 and 220 mm, which can meet the winding requirements of pipes with different diameters. The highest yarn speed can reach Mm / min, and the mandrel rotation angle resolution is 0.018. The control error of the car trajectory is less than 0 mm, the response speed of the whole machine is fast, the performance is stable, and the operation is simple. The system has been applied to Daqing Zhutian Composite Material Co., Ltd. Practice has proved that the system has a very important role in improving the technical level, automation and pipeline quality of the FRP winding forming process, and shortening the development cycle of the pipeline and reducing the staff The labor intensity increases production efficiency and reduces production costs.
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