Fuzzy-Adaptive PID Based Tow Tension Controller for Robotic Automated Fiber Placement

摘要

Robotic automated fiber placement (Robotic AFP) was a cost-effective and highly innovative approach to produce large and complex composite structures. In order to achieve desired qualities, the tow tension of the process required to becontrolled accurately. Due to the high nonlinearity of the system, such as the large elastic modulus, flexibility and viscosity of the tow, traditional methods failed to work effectively. A fuzzy-adaptive PIDcontroller combining fuzzy logic and adaptive PID together was proposed in this work. Fuzzy logic was able to respond quickly to disturbances without the need for an accurate model and adaptive PID control could eliminate the steady-state error by adapting its parameters to the working conditions. With this method, the tow tension could be precisely regulated thus improved the qualities of the composite structures.