变曲率芯模绝热层缠绕成型轨迹规划与编程

Trajectory planning for winding molding of variable curvature rubber heat insulation

本文根据固体火箭发动机绝热层缠绕成型要求,分析了变曲率芯模几何特征及绝热层缠绕成型特点,研究了变曲率芯模缠绕角计算方法和基于测地线的带隙自适应控制方法,控制缠绕方向以保证缠绕轨迹满足带隙要求。分析了绝热层缠绕胶带撕裂、褶皱形成原因,建立了胶带撕裂、褶皱判定条件。研究了绝热层与椭圆凹面压辊接触区域应力分布规律,基于Winkler模型提出了缠绕压力控制方法。基于上述方法及测地线算法实现了变曲率芯模绝热层缠绕成型轨迹规划。最后,通过绝热层缠绕成型仿真,对算法可行性进行了验证。结果表明,按照本文方法获得的缠绕轨迹切实可行,能够满足变曲率芯模绝热层自动缠绕成型要求。

In this paper,according to the requirements of winding molding of heat insulation of the solid rocket motor,the geometric features of variable curvature mandrel and the characteristics of winding molding were ana-lyzed,the winding angle calculation method of variable curvature mandrel and the adaptive control method for rubber tape gaps based on geodesic method were studied to control the winding direction and satisfy the tape gaps requirement.The causes of tearing and wrinkle of the rubber tape were analyzed,and the determination conditions of tearing and wrinkle were established.The distribution of the contact pressure between the heat insulation and the elliptical concave roller was studied,and the winding pressure control method was proposed based on the Winkler model.Based on the above method and geodesic algorithm,the trajectory planning for winding molding of variable curvature rubber heat insulation was fulfilled.Finally,the feasibility of the algorithm was verified by the winding molding simulation of rubber heat insulation.The results show that the algorithm proposed is feasible and can satisfy the requirements of the winding molding of variable curvature rubber heat insulation with excellent effect.