Filament winding apparatus

摘要

A filament winding machine includes a servomotor connected to position a filament distributing carriage relative to a rotating mandrel to form a tubular member. An incremental encoder is connected to the mandrel and produces a pulse related output per mandrel revolution. An absolute encoder is connected to the servomotor and provides an absolute position number. The encoders are sampled at a fixed rate. A mathematical calculating circuit reads the incremental encoder and based on a predetermined movement design for the gear drive, the desired winding configuration and the like determines the proper position, which is compared to the absolute encoder reading to produce an error control signal to the servomotor. A preselected sequence of actual position numbers and the corresponding calculated position numbers are continuously updated in a temporary memory. The difference of succeeding pairs provides data for directly computing the rate at which the head is moving and a proper position and thus also the data for computing actual acceleration or deceleration of the head movement. A microprocessor has proper programs with appropriate user specified parameters to produce various winding configurations. The microprocessor provides the calculation of the proper position and determination of the drive signal. Suitable optional control tables such as a cosine table may modify the calculated carriage position to produce any desired motion. Rapid and continuous monitoring permits the system to anticipate necessary correction and thereby provide a continuous and low power level correction of heavy driven elements such as a filament winding head and carriage.