Adaptive Yaw Control of the Flexible Pressure Roller for Composite Tape Winding

The process control method for composite prepreg tape winding is studied. A control method used for the uneven thickness layer winding point control called adaptive yaw control of flexible pressure roller is presented. The control elements for adaptive yaw control of the flexible pressure roller is analyzed and the position expression of flexible roller foreword-point to MCS (machine coordinate system) is established based on analysis of the process characteristic of composite prepreg tape winding and the winding defect of rigid roller and flexible roller. An experiment platform for adaptive yaw control is designed, the control method for adaptive yaw control of flexible pressure roller is analyzed for the platform. The control algorithm is derived according to the elements of the adaptive yaw control; the system for adaptive yaw control of the flexible pressure roller is designed as a result. The method's feasibility and validity is verified by experiment, compared with rigid roller method and flexible roller method, the proposed adaptive yaw control method not only has a better performance in product density, but also guarantees the position accuracy of roller forward-point.