肖扬 侯增选 严文聪 张伟超 邱传森

摘要：研究了固體火箭发动机绝热层缠绕成型过程中胶带跑偏问题，设计了相应的纠偏控制方法。首先分析了缠绕成型过程中胶带跑偏的原因，提出了相应的纠偏方案和控制系统。分析了控制系统的硬件组成，并结合纠偏方案建立了完整的纠偏控制系统数学模型。基于该模型设计了电流环、转速环和整体位置环的三闭环纠偏控制策略并进行了仿真验证。其中电机内的电流环和转速环采用 PI 控制;在内环设计基础上，整体位置环采用模糊自整定 PID 控制，通过设计算法动态调整 PID 参数。Simulink仿真结果表明，电流环能够将超调抑制在4.61%，转速环调节时间短（0.015 s），两环的动态性能良好，且无稳态误差。通过与 PID控制对比，模糊自整定 PID控制的响应曲线抑制超调能力明显（3.00%），调节速度快（0.367 s），且曲线过渡光滑，这表明纠偏效果要优于 PID 控制。关键词：绝热层;缠绕成型;纠偏方案;控制系统;PI ;模糊自整定 PID

中图分类号：TB3             文献标志码：A

文章编号：1009-9492（2021）12-0045-05                          开放科学（资源服务）标识码（OSID）：

Research on Rectification Control Method of Winding Molding of Heat Insulation

Xiao Yang1，Hou Zengxuan1※，Yan Wencong2，Zhang Weichao1，Qiu Chuansen1

（1.School of Mechanical Engineering， Dalian University of Technology， Dalian， Liaoning 116024， China;

2.Xi′an Aerospace Composites Research Institute， Xi′an 710025， China）

Abstract： A corresponding rectification control method was designed for the problem of the deviation of the tape position during the winding molding of heat insulation of solid rocket motor. First， the reasons for the deviation of the tape during the winding molding were analyzed， and the rectification scheme and control system were proposed. The hardware composition of the control system was analyzed， and a complete mathematical model of the rectification control system was established based on the rectification scheme. Based on the model， a three-closed loop rectification control strategy including current loop， speed loop and overall position loop was designed and verified by simulation. The current loop and speed loop in the motor adopted PI control to realize steady-state errors adjustment， based on the inner loop design， the overall position loop adopted Fuzzy self-tuning PID control， and the PID parameters were dynamically adjusted through the design algorithm. Simulink results show that the current loop can suppress the overshoot to 4.61%， the speed loop adjustment time is short （0.015 s） ， the dynamic performance of the two loops is good， and there is no steady-state error. Compared with PID control， the response curve of Fuzzy self-tuning PID control has obvious overshooting ability （3.00%） ， fast adjustment speed （0.367 s） ， and smooth curve transition， whichshows that the rectification effect is better than PID control.

Key words： heat insulation; winding molding; rectification scheme; control system; PI; Fuzzy self-tuning PID

0 引言

固体火箭发动机是一种性能优越的火箭动力装置，为了保证发动机壳体在运行过程中的稳定性，需要在壳体内衬一层绝热层，用于隔离固体燃料和壳体，因此绝热层的成型质量非常重要。目前国内主要采用人工贴片的方法实现绝热层成型，劳动强度大、效率低、且成型质量稳定性差，因此急需开展绝热层缠绕成型工艺的研究[1]。

在缠绕成型过程中，胶带需要按照预定轨迹由压辊缠绕到芯模表面，但在实际运行当中，受各类干扰因素的影响，胶带不可避免地会发生跑偏[2]。……