Prepreg tape tension detection method and device based on extended state observer and medium

Abstract

The invention discloses a prepreg tape tension detection method and device based on an extended state observer and a medium, and the method comprises the steps: carrying out the kinetic analysis of an unreeling shaft of an automatic tape laying machine, and constructing a tension model; converting the tension model into a state-space equation, and constructing a tension state observer according to the state-space equation; optimizing the tension state observer through a genetic algorithm based on an error between a tension estimated value output by the tension observer and a tension target value; the current corresponding to the unwinding torque, the real-time radius of the unwinding shaft and the conveying speed of the unwinding shaft are obtained and input into the optimized tension state observer, and a tension estimation value is obtained; the tension estimation value is decoupled through a controller to obtain a control signal, and the unwinding torque is controlled through the control signal; inputting the unwinding torque into a tension model to obtain an actual tension value; and setting a Lyapunov function, and judging whether the actual tension value is accurate or not through the Lyapunov function.

Description

Technical Field

[0001] The invention relates to the field of composite material prepreg tension detection, and in particular to a prepreg tension detection method, equipment and medium based on an expansion state observer. Background Art

[0002] Carbon fiber reinforced polymer (CFRP) has higher specific strength and specific modulus than existing engineering materials, and is one of the commonly used lightweight materials in aerospace and other fields. Carbon fiber composites have good fatigue resistance, vibration resistance and corrosion resistance, which can make components have high reliability and long service life. As the main equipment for forming composite components, composite automatic tape laying machine has been widely used in the manufacturing of aircraft composite components due to its high production efficiency, reliability and stability of component quality. In the laying process of the automatic tape laying machine, the key factors affecting the laying quality include prepreg tension, laying speed, temperature, pressure, etc. Among them, the control of prepreg tension is particularly important. The fluctuation of tension will cause defects such as bubbles, wrinkles, and bridges in the laying of prepreg tape, which directly affects the appearance and strength of composite components. In the process of tension control, tension feedback is an important link. The accuracy and feedback speed of tension detection directly affect the control accuracy and stability of the tension control system. If the tension detection accuracy is not up to standard, the control system may not be able to make feedback adjustments according to the actual tension value, resulting in excessive or insufficient tension of the prepreg tape, or even the breakage of the prepreg tape liner. Therefore, in the tension control process of the automatic tape laying machine, tension detection is very important.

[0003] In the existing strip tension detection methods, commonly used detection devices include spring rollers, strain gauge tension sensors and expansion state observers (ESO).

[0004] Among them, when a spring roller is used as a tension detection device, the system has mechanical compliance, and its spring elastic deformation and spring roller axial movement can effectively absorb the transient impact of tension and reduce the risk of strip breakage. However, this detection method has many technical limitations: under dynamic conditions, the inertia effect of the spring roller and the fluctuation of motion parameters will introduce measurement deviations, and accuracy can only be guaranteed under equilibrium conditions; in the calibration link, the calibration of the tension-displacement relationship must be completed in advance under steady-state conditions, which increases the system debugging cycle and maintenance costs; in terms of hardware configuration, the purchase cost of high-precision displacement sensors is similar to that of traditional tension sensors, and the system design must take into account the coordinated optimization between spatial layout and measurement accuracy. In addition, the installation of displacement sensors must meet strict positioning tolerance requirements, which poses a higher challenge to the equipment structure design.

[0005] Compared with the spring roller detection method, the strain gauge tension sensor has the advantages of high accuracy, small size, light weight, wide measurement range, high natural frequency, and fast dynamic response. However, the structure is relatively fixed and lacks flexible elements like spring rollers. There is no buffering effect when the tension value changes suddenly, and the control system needs to have a higher dynamic response speed. The strain gauge tension sensor also has problems such as high cost, susceptibility to environmental influences, and complex maintenance. In addition, in some special environments (such as high temperature, high humidity, strong vibration, etc.), the reliability and accuracy of the strain gauge tension sensor are difficult to guarantee.

[0006] Compared with strain gauge tension sensors, the extended state observer (ESO) has significant advantages and certain limitations. Its advantage is that it does not require the installation of expensive tension sensors, which reduces hardware costs. It can estimate tension values ​​in real time, is suitable for dynamically changing scenarios, and has strong robustness to internal uncertainties and external disturbances. However, the performance of ESO is highly dependent on the accuracy of the system model. If there are errors in model parameters such as moment of inertia and damping coefficient, it will directly affect the accuracy of tension estimation. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention provides a method, device and medium for detecting the tension of a prepreg tape based on an expansion state observer.

[0008] In a first aspect, an embodiment of the present invention provides a method for detecting tension of a prepreg tape based on an expansion state observer, the method comprising:

[0009] Conduct dynamic analysis on the unwinding shaft of the automatic tape laying machine and construct a tension model;

[0010] The tension model is transformed into a state space equation, and a tension state observer is constructed according to the state space equation;

[0011] Based on the error between the tension estimate output by the tension observer and the tension target value, the tension state observer is optimized by genetic algorithm.

[0012] The current corresponding to the unwinding torque, the real-time radius of the unwinding shaft, and the conveying speed of the unwinding shaft are obtained, and input into the optimized tension state observer to obtain the tension estimation value;

[0013] The tension estimation value is decoupled by the controller to obtain a control signal, and the unwinding torque is controlled by the control signal; the unwinding torque is input into the tension model to obtain the actual tension value;

[0014] Set the Lyapunov function and use it to determine whether the actual tension value is accurate.

[0015] In a second aspect, an embodiment of the present invention provides an electronic device, including:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores one or more computer programs executable by the at least one processor, and the one or more computer programs are executed by the at least one processor to enable the at least one processor to perform the prepreg tape tension detection method based on the expansion state observer as described above.

[0019] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned method for detecting tension of a prepreg tape based on an expansion state observer.

[0020] In a fourth aspect, an embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the above-mentioned prepreg tape tension detection method when executed by a processor.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides a prepreg tension detection method based on an expansion state observer, which changes the prepreg tension detection method from a traditional spring roller or a tension sensor-based detection method to a tension state observer-based measurement method, constructs an accurate tension model, and optimizes the gain parameter in the tension state observer through a genetic algorithm. , improves the global optimization ability of the tension state observer, avoids falling into the local optimum, and improves the tension detection accuracy by selecting the optimal solution of the gain parameter combination. At the same time, accurate tension model data can also improve the accuracy of tension estimation; this method also reduces the dependence on expensive sensors, avoids the physical limitations of sensors on working environments such as temperature and humidity, and reduces the system hardware cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0024] Figure 1 A flow chart of a method for detecting tension of a prepreg tape provided in an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of an unwinding shaft of an automatic tape laying machine provided in an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of a tension state observer provided by an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

[0030] like Figure 1 and Figure 3 As shown, an embodiment of the present invention provides a method for detecting tension of a prepreg tape based on an expansion state observer, the method comprising the following steps:

[0031] Step S1, performing dynamic analysis on the unwinding shaft of the automatic tape laying machine and constructing a tension model.

[0032] Specifically, Figure 2 As shown in the figure, this example takes the unwinding shaft of the automatic tape laying machine as the research object and analyzes its stress conditions. Since the unwinding mechanism uses a permanent magnet synchronous servo motor as a direct drive device, the dynamic parameters of the unwinding shaft clamped with a prepreg roll can be converted to the motor shaft end through the equivalent conversion method. Specifically, the rotational inertia, radius, and friction torque of the unwinding shaft can all be converted to the motor side through the mechanical equivalent principle, thereby realizing the unified modeling and analysis of the unwinding shaft and the drive motor.

[0033] In this example, the unwinding shaft of the automatic tape laying machine is subjected to dynamic analysis. The moment of inertia, radius, and friction torque of the unwinding shaft are converted to the motor side through the mechanical equivalent principle, thereby constructing a dynamic torque balance equation. The expression is as follows:

[0034]

[0035] In the formula, It represents the unwinding torque generated by the permanent magnet synchronous motor at time t; Indicates the prepreg tape tension on the unwinding axis side at time t; Indicates the real-time radius of the unwinding axis; Indicates the converted total moment of inertia of the unwinding mechanism; Indicates the rotational angular velocity of the unwinding shaft; Indicates the friction torque of the unwinding mechanism.

[0036] It should be noted that in the unwinding shaft system of the automatic tape laying machine, the torque output by the servo motor is manifested as a resistance torque, and its direction of action is usually opposite to the rotation direction of the unwinding shaft. Therefore, in the dynamic torque balance equation, the variable The sign of should be negative to accurately reflect the relationship between the torque direction and the motion state.

[0037] Furthermore, in the tension model, the tension T is related to the time-varying parameters of the unwinding motor output torque, the unwinding radius, the system moment of inertia and the laying speed. The dynamic torque balance equation can be simplified accordingly to facilitate the analysis of tension control. In this example, the dynamic torque balance equation is simplified based on the following assumptions:

[0038] ⑴ The thickness of the prepreg tape is only 0.12 mm, and it is laid in layers. The change in the radius of the reel in a short time can be ignored;

[0039] ⑵Based on assumption ⑴, the change of the unwinding shaft's moment of inertia during the control period can be ignored;

[0040] ⑶ The unwinding system is driven by a permanent magnet synchronous servo motor, and the effect of dry friction torque on tension can be ignored;

[0041] (4) There is no relative sliding between the prepreg tape and the unwinding shaft, guide wheel and pressure roller;

[0042] ⑸ There is no mass exchange between the prepreg tape and the environment, and volatilization, wear, etc. are ignored;

[0043] (6) The tensile strain of the prepreg tape meets the small deformation condition;

[0044] ⑺The density and elastic modulus of the prepreg tape are constant along the length direction when it is not stretched.

[0045] Specifically, the dynamic moment balance equation is simplified to obtain the tension model, which is expressed as follows:

[0046]

[0047] In the formula, represents the friction coefficient of the permanent magnet synchronous motor, Indicates the laying speed, Indicates the thickness of a single layer of prepreg tape, Indicates the density of prepreg tape, Indicates the width of the prepreg tape, Indicates the quality of the unwinding shaft core. In this example, the prepreg tape tension It can be obtained by collecting data such as motor torque and laying speed and combining them with dynamic models. This tension can be used as a comparison quantity with the tension obtained by the tension observer to analyze the accuracy of the observer.

[0048] Step S2, converting the tension model into a state space equation, and constructing a tension state observer according to the state space equation.

[0049] Furthermore, the tension model is transformed into a state space equation, and the expression of the state space equation is as follows:

[0050]

[0051] In the formula, and Both represent the output tension T, represents the rate of change of tension, represents the expanded state variable, represents the input gain, represents input variables; As a disturbance , including nonlinear terms and external disturbances.

[0052] According to the state space equation, the control algorithm of the tension state observer can be designed as:

[0053]

[0054] in, Indicates an estimate of tension; represents an estimate of the rate of change of tension; represents the estimate of the total disturbance; Indicates the system input deviation; represents the integration step size; represents the disturbance compensation amount; represents the output error correction gain coefficient; where, Represents the nonlinear control function, that is, the output error correction law:

[0055]

[0056] in, The interval length representing the continuous power function line segment can be used to eliminate the oscillation of the system; is the nonlinear index, which indicates the nonlinear strength of the control function, where .

[0057] The tension state observer is linearized and the nonlinear control function is assumed to be When the error is small, it degenerates into linear feedback, and the simplified expression of the tension state observer is as follows:

[0058]

[0059] In the formula, represents the input deviation, represents the estimated value of tension, represents an estimate of the rate of change of tension, represents the estimate of the total disturbance, represents the disturbance compensation amount, Represents the output error correction gain factor.

[0060] Step S3, optimizing the tension state observer by a genetic algorithm based on the error between the tension estimation value output by the tension observer and the tension target value.

[0061] Furthermore, the objective function is constructed and the expression is as follows:

[0062]

[0063] In the formula, represents the objective function, represents the weight coefficient, represents the input deviation, Indicates the output, Indicates the overshoot;

[0064] Construct a fitness function; the fitness function is an important indicator function for screening suitable individuals in the population, which determines the quality of the solution. Usually the fitness function is the inverse of the objective function, and the expression is as follows:

[0065]

[0066] In the formula, represents the fitness function, represents the coefficient (in this example, is a very small real number that ensures that the denominator is not 0);

[0067] The parameters to be optimized in the tension state observer Encoding;

[0068] Generate the initial population and calculate the fitness value of each individual according to the fitness function;

[0069] According to the fitness value of each individual, crossover and / or mutation operations are performed to re-evaluate the fitness of each individual and obtain the optimized output error correction gain coefficient in the tension state observer. .

[0070] It should be noted that for the tension state observer, based on the nonlinear feedback effect of the tension state observer, if there is a constant , so that , from which we can deduce:

[0071]

[0072] The above formula shows that the tension and disturbance in the system can be effectively estimated by using ESO as the state variable introduced by the tension state observer. Further analysis shows that the parameters It is a key parameter to be adjusted, and its value directly affects the control performance of the active disturbance rejection controller and the accuracy of the tension state observer in estimating disturbances and tension values.

[0073] Step S4, obtaining the current corresponding to the unwinding torque, the real-time radius of the unwinding shaft, and the conveying speed of the unwinding shaft, and inputting them into the optimized tension state observer to obtain the tension estimation value.

[0074] Specifically, the unwinding motor torque The torque data is obtained through the permanent magnet synchronous motor model, the servo motor model is built, and the surface mounted permanent magnet synchronous motor working in the torque mode is selected. , build the motor model in the synchronous rotating coordinate system dq, using The current vector control method, at this time the stator voltage equation is:

[0075]

[0076] in, They represent the voltage components of the direct axis and quadrature axis in the rotating coordinate system, represents the resistance of the stator winding, are the direct-axis and quadrature-axis components of the stator winding inductance, is the electrical angular velocity of the motor rotor, is the permanent magnet rotor flux.

[0077] The current differential equation in dq coordinates is:

[0078]

[0079] The stator flux equation is:

[0080]

[0081] Combined with the above formula, the relationship between the motor current and the motor output torque can be expressed as the electromagnetic torque equation, which is expressed as follows:

[0082]

[0083] in, is the torque constant of the servo motor, which is usually a certain value. , and combined with the motor's torque constant , the output torque of the motor can be calculated .

[0084] For servo motor control, the relationship between speed and torque can be expressed by the motor motion equation, as follows:

[0085]

[0086] in, is the mechanical angular velocity of the motor rotor, is the electromagnetic torque of the motor, is the load torque of the motor output shaft, is the moment of inertia of the motor output shaft, is the viscous friction coefficient of the motor output shaft.

[0087] The real-time radius of the unwinding shaft is measured by a laser distance sensor, which can dynamically collect the distance data between the surface of the coil on the unwinding shaft and the sensor and transmit it to the control system. By combining the fixed distance from the distance sensor to the unloaded reel and the radius of the unwinding shaft core, a geometric model is constructed to accurately convert it into the instantaneous outer diameter value of the prepreg coil. .

[0088] At this time, the prepreg conveying speed Can be combined with the unwinding radius according to the angular velocity of the motor shaft The measured data is obtained by the formula Calculated.

[0089] Based on the tension model and tension state observer, the input of the tension state observer is mainly the current signal that generates the unwinding torque. , Real-time radius signal fed back by laser sensor And the conveying speed signal calculated by the controller By collecting the above data, the input of the tension state observer can be realized, and the output tension can be obtained according to the tension observer model.

[0090] Step S5, the tension estimation value is decoupled by the controller to obtain a control signal, and the unwinding torque is controlled by the control signal; the unwinding torque is input into the tension model to obtain the actual tension value.

[0091] The controller expression is as follows:

[0092]

[0093] In the formula, , To control the gain, is the tension tracking error, is the tension target value, is the tension estimate output by the tension state observer, is the tension change rate tracking error, is the rate of change of the tension target value, is the rate of change of the tension estimate output by the tension state observer, is the nonlinear index, represents the interval length of the continuous power function line segment, represents the disturbance compensation term, represents the estimate of the total disturbance, Indicates input gain.

[0094] Step S6, setting a Lyapunov function, and judging whether the actual tension value is accurate by using the Lyapunov function.

[0095] Set the Lyapunov function, the expression is as follows:

[0096]

[0097] In the formula, Indicates the tension error, Indicates the tension change rate error, Represents the disturbance error; the Lyapunov function represents the "energy" of the system, and the smaller its value is, the smaller the observation error is.

[0098] Determine the negative definiteness of the derivative of the Lyapunov function and optimize the output error correction gain coefficient in the tension state observer , so that the tension estimate converges to the true tension value (i.e., by optimizing Make ), thereby ensuring the accuracy of the tension estimate obtained by the tension observer.

[0099] In summary, the present invention provides a prepreg tension detection method based on an expansion state observer, which changes the prepreg tension detection method from a traditional spring roller or tension sensor-based detection method to a tension state observer-based measurement method, constructs an accurate tension model, and optimizes the gain parameter in the tension state observer through a genetic algorithm. , improves the global optimization ability of the tension state observer, avoids falling into the local optimum, and improves the tension detection accuracy by selecting the optimal solution of the gain parameter combination. At the same time, accurate tension model data can also improve the accuracy of tension estimation; this method also reduces the dependence on expensive sensors, avoids the physical limitations of sensors on working environments such as temperature and humidity, and reduces the system hardware cost.

[0100] Accordingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned prepreg tension detection method based on the expansion state observer. Figure 4 As shown, it is a hardware structure diagram of any device with data processing capability for the prepreg tape tension detection method based on the expansion state observer provided by the embodiment of the present invention, except Figure 4 In addition to the processor, memory and network interface shown, any device with data processing capability in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capability, which will not be described in detail.

[0101] Accordingly, the present application also provides a computer-readable storage medium on which computer instructions are stored, and when the instructions are executed by the processor, the prepreg tape tension detection method based on the expansion state observer as described above is implemented. The computer-readable storage medium can be an internal storage unit of any device with data processing capabilities described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (Flash Card), etc. equipped on the device. Furthermore, the computer-readable storage medium can also include both an internal storage unit and an external storage device of any device with data processing capabilities. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and can also be used to temporarily store data that has been output or is to be output.

[0102] Those skilled in the art will readily appreciate other embodiments of the present application after considering the description and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application. The description and examples are intended to be exemplary only.

[0103] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A method for detecting the tension of a prepreg tape based on an expansion state observer, characterized in that: The method comprises: Conduct dynamic analysis on the unwinding shaft of the automatic tape laying machine and construct a tension model; The tension model is transformed into a state space equation, and a tension state observer is constructed according to the state space equation; Based on the error between the tension estimate output by the tension observer and the tension target value, the tension state observer is optimized by genetic algorithm. The current corresponding to the unwinding torque, the real-time radius of the unwinding shaft, and the conveying speed of the unwinding shaft are obtained, and input into the optimized tension state observer to obtain the tension estimation value; The tension estimation value is decoupled by the controller to obtain a control signal, and the unwinding torque is controlled by the control signal; the unwinding torque is input into the tension model to obtain the actual tension value; Set the Lyapunov function and use it to determine whether the actual tension value is accurate.

2. A method for detecting the tension of a prepreg tape based on an expansion state observer according to claim 1, characterized in that: The process of conducting dynamic analysis on the unwinding shaft of the automatic tape laying machine and constructing the tension model includes: The unwinding shaft of the automatic tape laying machine is subjected to dynamic analysis. The moment of inertia, radius and friction torque of the unwinding shaft are converted to the motor side through the mechanical equivalent principle, so as to construct the dynamic torque balance equation. The dynamic torque balance equation includes: the unwinding torque at time t is equal to the product of the prepreg tape tension on the unwinding shaft side at time t and the radius of the unwinding shaft, the product of the rate of change of the unwinding shaft moment of inertia and the angular velocity, the product of the unwinding shaft moment of inertia and the angular acceleration, and the sum of the friction torque of the unwinding shaft.

3. A method for detecting the tension of a prepreg tape based on an expansion state observer according to claim 1 or 2, characterized in that: The process of simplifying the dynamic moment balance equation to obtain the tension model includes: The prepreg tension on the unwinding shaft side is the unwinding torque divided by the real-time radius of the unwinding shaft, minus the product of the motor friction coefficient and the laying speed divided by the square of the real-time radius of the unwinding shaft, minus the nonlinear term determined by the single layer thickness, density, width, speed square and unwinding shaft core radius of the prepreg, and the additional term determined by the unwinding shaft core mass, speed square and real-time radius of the unwinding shaft.

4. The method for detecting the tension of a prepreg tape based on an expansion state observer according to claim 1, characterized in that: The process of converting the tension model into a state space equation and constructing a tension state observer based on the state space equation includes: Converting the tension model into a state space equation; the state space equation is used to express the relationship between the tension and its rate of change and the expansion state variable, input variable and disturbance; A tension state observer is constructed according to the state space equation. The tension state observer is provided with an error correction gain coefficient and is used to estimate the tension and its change rate and compensate for disturbances.

5. A method for detecting tension of a prepreg tape based on an expansion state observer according to claim 1 or 4, characterized in that: Based on the error between the tension estimate output by the tension observer and the tension target value, the process of optimizing the tension state observer by genetic algorithm includes: Construct the objective function; Construct a fitness function; Encoding the error correction gain coefficient to be optimized in the tension state observer; Generate the initial population and calculate the fitness value of each individual according to the fitness function; A crossover and / or mutation operation is performed according to the fitness value of each individual, the fitness of each individual is re-evaluated, and the optimized output error correction gain coefficient in the tension state observer is obtained.

6. The method for detecting the tension of a prepreg tape based on an expansion state observer according to claim 1, characterized in that: The process of decoupling the tension estimate value through the controller to obtain the control signal includes: The controller is used to generate a control signal according to the tension estimation value and the error between the tension estimation value, the error between the tension change rate and the disturbance compensation term; The control signal is used to adjust the unwinding torque so that the tension estimation value approaches the tension estimation value.

7. The method for detecting the tension of a prepreg tape based on an expansion state observer according to claim 1, characterized in that: The process of setting the Lyapunov function and judging whether the actual tension value is accurate by the Lyapunov function includes: Set up the Lyapunov function; The negative definiteness of the derivative of the Lyapunov function is determined, and the output error correction gain coefficient in the tension state observer is optimized to make the tension estimate converge to the true value of the tension, thereby ensuring the accuracy of the tension estimate obtained by the tension observer.

8. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores one or more computer programs executable by the at least one processor, and the one or more computer programs are executed by the at least one processor to enable the at least one processor to perform the prepreg tape tension detection method based on an expansion state observer as described in any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program implements the prepreg tape tension detection method based on an expansion state observer according to any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the prepreg tape tension detection method based on an expansion state observer as described in any one of claims 1 to 7 is implemented.

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