中文摘要：

针对绕线过程中电磁线与线嘴之间摩擦力不断增大会对张力控制带来不良影响,从而极易导致断线的问题,以控制绕线过程中电磁线与线嘴之间夹角基本恒定,减小电磁线与线嘴之间摩擦力为目标,提出排线轴高速折返运动控制算法。研究排线轴高速折返运动时的轨迹特点,实现排线轴的运动仿真,获取排线轴空间离散轨迹点位置,运用四参数正弦曲线拟合算法,确定轨迹参数曲线方程;采用四阶龙格—库塔数值算法确定曲线插补初始点,运用二阶泰勒方程对插补下一点进行估测,结合弓高误差对各估测插补点进行校正,实现参数曲线的插补算法。试验结果表明,该方法能够有效保持电磁线与线嘴之间摩擦力基本恒定,较大提高绕线过程中张力控制精度,保证绕线质量。

英文摘要：

To deal with wire-broken due to increasing harmful friction between magnet wire and nozzle,a control algorithm for traverse shaft moving back and forth in high speed winding is proposed to keep the limitied friction fluctuation and reduce the friction between magnet wire and nozzle.Based on trajectory characteristic,moving back and forth in high speed of traverse shaft is simulated and discrete points in trajectory are obtained.Combined discrete points and four-parameter sine curve,a approximated parametric trajectory of traverse shaft moving back and forth is confirmed.Using fourth Runge-kutta fomula to obtain the inatial point and second-order Taylor＇s equation to estimate the next interpolate point,the interpolation for approximated parametric trajectory of traverse shaft is accomplished under the condition of confined chord error.Experiment results show that limited friction fluctuation between electromagnetic wire and nozzle can be kept efficiently,quality of winding can be improved greatly and tesion control accurracy is guranteed by the proposed method.