基于柱形容器缠绕特性的控制稳定性分析

针对玻璃纤维缠绕机在工作中由于张力不稳定导致的线型变化，以及在高速缠绕模式下的张力调节不稳定的问题，设计了自适应模糊PID控制策略以及适用于高速缠绕工况的滑模控制策略。首先，针对缠绕工况建立缠绕动力学模型、张力控制模型；其次，引入模糊PID控制策略和滑模控制策略分别对不同工况下的缠绕特性进行MATLAB-Simulink仿真，寻找最优控制策略；最后，基于被验证的最优控制策略进行实验。结果表明，在模糊PID控制的调节下，不同速度变化下的缠绕张力相对于无控制得到较好改善，提高了柱形容器在缠绕时的线性稳定性和张力稳定性。模糊PID控制对缠绕时的张力调节精度优于滑模控制，为大型管道缠绕设备提供了新的研究思路。

Analysis of control stability based on winding characteristics of cylindrical vessels

Aiming at the linear change caused by tension instability in the work of glass fiber winding machine and the instability of tension adjustment in high-speed winding mode, an adaptive fuzzy PID control strategy and a sliding mode control strategy suitable for high-speed winding conditions were designed. Firstly, the winding dynamic model and tension control model were established for the winding condition. Secondly, the fuzzy PID control strategy and sliding mode control strategy were introduced to simulate the winding characteristics under different working conditions by MATLAB-Simulink, and the optimal control strategy was found. Finally, the experiment was carried out based on the verified optimal control strategy. The results show that under the regulation of fuzzy PID control, the winding tension is better improved than that without control under different speed changes, and the linear stability and tension stability of the cylindrical container are improved. The tension adjustment accuracy of fuzzy PID control is better than that of sliding mode control, which provides a new research idea for large pipeline winding equipment.