摘要
针对风电叶片玻璃纤维布铺层过程的多自由度特性,开发一套自动化铺层装备。对布辊回转单元构建基于双坐标系的位姿变换矩阵,得到布辊的运动学模型,并获得影响铺层路径及速度的因素,可视化得到玻璃纤维布的铺层曲面轨迹。采用该装备进行现场铺布试验表明,叶片模具的实际曲面,仿真与试验的铺层路径轨迹误差不超过20 mm,速度误差小于1.5 mm/s,机构的试验误差符合玻璃纤维布铺层的技术要求,可为后续铺层控制算法开发奠定了理论依据。
Director of the multidimensional characteristics of wind turbine blade laying process,a set of automated equipment of laying for fiberglass fabric was designed. The pose transformation matrix based on the two-coordinate system was constructed for the cloth roller rotating head,and the kinematic model of the cloth roller was obtained. The factors affecting the track and speed of the laying were obtained,and the pavement surface track of the fiberglass fabric was obtained visually. The on-site paving test showed that the paving track error,which based on the actual curved surface of the blade mold,between simulation and test was within 20 mm,at the same time,speed error was within 1.5 mm/s. The test error of the mechanism could meet the requirements of the fiberglass fabric laying technology and provided subsequent layer control algorithm with the theoretical basis.
作者
张磊安
王景华
黄雪梅
刘卫生
魏修亭
Zhang Leian;Wang Jinghua;Huang Xuemei;Liu Weisheng;Wei Xiuting(College of Mechanical Engineering, Shandong University of Technology, Zibo 255049, China;Key Laboratory of Marine Wind Power Blade Design and Manufacturing Technology of Jiangsu Province, Lianyungang Zhongfu Lianzhong Composite Materials Group Co., Ltd., Lianyungang 222006, China)
出处
《太阳能学报》
EI
CAS
CSCD
北大核心
2019年第5期1408-1413,共6页
Acta Energiae Solaris Sinica
基金
山东省重点研发计划(2018GGX100304)
第11批中国博士后科学基金特别资助(2018T110704)
第62批中国博士后科学基金一等资助(2017M620291)
关键词
运动学分析
运动模拟
自动化装备
风电叶片
铺层试验
kinematic analysis
motion simulation
automated equipment
wind turbines blades
layering test
