Numerical control fiber winding machine and fiber winding control method thereof

Abstract

The invention relates to the technical field of winding control, in particular to a numerical control fiber winding machine and a fiber winding control method thereof. The method comprises the following steps: according to position characteristics and winding rates of each coating position in different winding processes under each winding batch, obtaining a winding effect influence coefficient of each coating position under each winding batch; obtaining a coating influence coefficient of a coating position in a neighborhood range of a real-time moment under each winding batch; according to the coating influence coefficient distribution of the coating position of each winding batch in the neighborhood range between different moments, the control stability degree of the coating position of each winding batch in the neighborhood range of the real-time moment is obtained; and according to the control stability degree of the coating position of each winding batch in the neighborhood range of the real-time moment and a preset rotation control step length, a rotation control adjustment step length is obtained, and the winding process is controlled. According to the method, the winding control accuracy is improved by obtaining the appropriate rotation control step length in the winding process.

Description

Technical Field

[0001] The present invention relates to the technical field of winding control, and in particular to a numerically controlled filament winding machine and a filament winding control method thereof. Background Art

[0002] As core equipment for load-bearing material manufacturing, the filament winding machine utilizes a multi-axis CNC system. During CNC filament winding operations, the quality of the winding process is closely linked to the coating performance of the coating machine. Existing technologies utilize fixed parameters for coating winding, but the winding process is dynamic. Fixed parameters make it difficult to maintain winding coating stability and ensure uniform and accurate penetration of the coating material into the fiber, resulting in poor winding control. Summary of the Invention

[0003] In order to solve the technical problem that it is difficult to achieve accurate winding result control with fixed parameters, the present invention aims to provide a CNC filament winding machine and a filament winding control method thereof. The technical solutions adopted are as follows: The present invention provides a CNC filament winding machine, comprising a winding machine body, the winding machine body including a dual-coating head coating assembly, a controller, and a measurement detector connected to the controller by signal. The measurement detector is used to monitor multiple coating positions of the double-sided coating machine and the winding rates of different winding processes in each winding batch. The control method of the controller includes: Obtain multiple coating positions of the winding machine and the winding rate in different winding processes under each winding batch; According to the position characteristics and winding rate of each coating position in different winding processes under each winding batch, the morphological influence degree of each coating position under each winding batch is obtained; according to the morphological influence degree of different coating positions under different winding batches, the winding effect influence coefficient of each coating position under each winding batch is obtained; According to the winding effect influence coefficients of all coating positions within the neighborhood of each winding batch at the real time, the coating influence coefficient of the coating position of each winding batch before the real time is obtained; according to the coating influence coefficient distribution of the coating positions within the neighborhood between adjacent moments of each winding batch, the control stability of the coating positions within the neighborhood of each winding batch at the real time is obtained; Obtaining a rotation control adjustment step size based on the control stability of the coating position of each winding batch within a neighborhood range at real time and a preset rotation control step size; The winding process is controlled by adjusting the rotation control step size according to each winding batch.

[0004] Furthermore, the method for obtaining the degree of morphological influence includes: For each winding batch, the morphological influence degree of each coating position in each winding batch was obtained based on the relative distance between the coordinates and the center of gravity of each coating position in different winding processes, the horizontal coordinate difference, and the winding rate. The relative distance was positively correlated with the morphological influence degree, while the horizontal coordinate difference and the winding rate were negatively correlated with the morphological influence degree.

[0005] Furthermore, the method for obtaining the winding effect influence coefficient includes: For each winding batch, the morphological influence degrees of different coating positions are arranged in ascending order according to coordinates, and the same coating positions are arranged in ascending order according to the morphological influence degree to form a morphological influence degree sequence; the morphological influence degree sequence is clustered to obtain multiple degree clustering clusters; Obtain the difference between the morphological influence degree of each coating position and the mean of all morphological influence degrees in the corresponding degree cluster as the first influence coefficient; Obtain the difference between the morphological influence degree of each coating position and the mean morphological influence degree of the corresponding same position, and perform negative correlation mapping as the second influence coefficient; The product of the first influence coefficient and the second influence coefficient is obtained and normalized to be the winding effect influence coefficient of each coating position.

[0006] Furthermore, the method for obtaining the coating influence coefficient includes: The mean difference of the winding effect influence coefficients of all coating positions between the front and rear sides within the neighborhood range at the real time is obtained and normalized as the coating influence coefficient of the coating position within the neighborhood range at the real time for each winding batch.

[0007] Furthermore, the method for obtaining the control stability includes: According to the difference in coating influence coefficient of the coating position in the neighborhood range between the real time moment and the previous moment under each winding batch, as well as the mean of the coating influence coefficient, the control stability of the coating position in the neighborhood range of each winding batch in the real time moment is obtained.

[0008] Furthermore, the method for obtaining the control stability includes: Obtain the coefficient difference of the coating influence coefficient of the coating position within the neighborhood range between the real time moment and the previous moment for each winding batch, obtain the ratio of the coefficient difference and the mean value of the coating influence coefficient, and perform negative correlation normalization mapping as the control stability of the coating position within the neighborhood range of each winding batch at the real time moment.

[0009] Furthermore, the method for obtaining the rotation control adjustment step length includes: If the difference in the control stability of the coating position within the neighborhood range of each winding batch between the real time moment and the previous time moment is less than or equal to the preset difference threshold, the ratio of the control stability of the coating position within the neighborhood range of each winding batch at the real time moment to the preset minimum adjustment accuracy is obtained as the adjustment coefficient; The difference between the preset rotation control step length and the adjustment coefficient is obtained as the rotation control adjustment step length; otherwise, the preset rotation control step length is used as the rotation control adjustment step length.

[0010] Furthermore, the method for obtaining the neighborhood range includes: Taking each moment as the benchmark, the range formed by all historical moments is used as the neighborhood range of each moment.

[0011] Furthermore, an exponential function with a natural constant as the base is used to perform negative correlation normalization mapping.

[0012] The present invention also proposes a numerically controlled fiber winding control method, the method comprising: Obtain multiple coating positions of the winding machine and the winding rate in different winding processes under each winding batch; According to the position characteristics and winding rate of each coating position in different winding processes under each winding batch, the morphological influence degree of each coating position under each winding batch is obtained; according to the morphological influence degree of different coating positions under different winding batches, the winding effect influence coefficient of each coating position under each winding batch is obtained; According to the winding effect influence coefficients of all coating positions within the neighborhood of each winding batch at the real time, the coating influence coefficient of the coating position of each winding batch before the real time is obtained; according to the coating influence coefficient distribution of the coating positions within the neighborhood between adjacent moments of each winding batch, the control stability of the coating positions within the neighborhood of each winding batch at the real time is obtained; Obtaining a rotation control adjustment step size based on the control stability of the coating position of each winding batch within a neighborhood range at real time and a preset rotation control step size; The winding process is controlled by adjusting the rotation control step size according to each winding batch.

[0013] The present invention has the following beneficial effects: The present invention obtains the morphological influence degree of each coating position in each winding batch based on the positional characteristics and winding rate of each coating position in different winding processes, thereby quantifying the importance of different coating positions in the winding process. Based on the morphological influence degrees of different coating positions in different winding batches, a winding effect influence coefficient of each coating position in each winding batch is obtained, which helps to identify which coating positions have a significant impact on the winding effect. Based on the winding effect influence coefficients of all coating positions in a neighborhood range of each winding batch at a real-time moment, a coating influence coefficient of the coating positions in the neighborhood range of each winding batch at a real-time moment is obtained, reflecting the influence of coating during the real-time winding process. Based on the distribution of coating influence coefficients of coating positions in a neighborhood range of each winding batch at different moments, a control stability degree of the coating positions in the neighborhood range of each winding batch at a real-time moment is obtained, which helps to determine whether the winding process is in a stable state. Based on the control stability degree of the coating positions in the neighborhood range of each winding batch at a real-time moment and a preset rotation control step length, a rotation control adjustment step length is obtained to control the winding process and adjust the control step length to adapt to changes in different winding batches and real-time conditions, thereby improving the flexibility and adaptability of the system. The present invention improves the accuracy of winding control by obtaining a suitable rotation control step length during the winding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 A flow chart of a control method provided by one embodiment of the present invention; Figure 2 A flow chart of a method for obtaining a winding effect influence coefficient provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0016] To further illustrate the technical means and effectiveness of the present invention in achieving its intended objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail a CNC filament winding machine and its filament winding control method, including its specific implementation, structure, features, and effectiveness. In the following description, references to "another embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0017] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0018] The specific scheme of a numerically controlled filament winding machine and a filament winding control method thereof provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0019] The present invention proposes a CNC filament winding machine, comprising a winding machine body, which includes a double-coating head coating assembly, specifically a frame, a conveying mechanism, a coating mechanism, a drying mechanism, and a feeding mechanism; a controller, and a measuring detector connected to the controller signal, the measuring detector being used to monitor multiple coating positions of the double-side coating machine and the winding rate of different winding processes in each winding batch. The control method of the controller is described in detail in the following. Figure 1 , which shows a flow chart of a control method provided by an embodiment of the present invention, the specific method includes: Step S1: Acquire multiple coating positions of a winding machine and winding rates in different winding processes of each winding batch.

[0020] In an embodiment of the present invention, since the working process of the CNC fiber winding unit is: winding - steam heating coating - curing - demolding, the resin materials coated and wound inside and outside are different during the coating stage, and operations on both sides can be performed simultaneously without affecting each other. During the steam curing process, the structural layer gel inside is wrapped with weather-resistant materials, which can effectively simplify the coating operation and improve production efficiency. The double-sided coating machine directly acts on the relevant device components of the resin pressure control, and there are position points on the relevant device components. The position distribution table characteristics of the coated position points are analyzed to analyze the coating process.

[0021] It should be noted that in the embodiment of the present invention, the three-dimensional sample space is constructed with the lower left corner of the device as the coordinate origin, the x-axis is perpendicular to the plane of resin flow, the y-axis and the resin flow direction are in the same plane, and the z-axis is vertically upward.

[0022] Step S2: According to the position characteristics and winding rate of each coating position in different winding processes under each winding batch, the morphological influence degree of each coating position under each winding batch is obtained; according to the morphological influence degree of different coating positions under different winding batches, the winding effect influence coefficient of each coating position under each winding batch is obtained.

[0023] Each spatial feature can reflect the spatial feature of each winding position. According to the positional features and winding rate of each coating position in different winding processes under each winding batch, the morphological influence degree of each coating position under each winding batch is obtained.

[0024] Preferably, in one embodiment of the present invention, the method for obtaining the morphological influence degree includes: For each winding batch, the morphological influence degree of each coating position in each winding batch was obtained based on the relative distance between the coordinates and the center of gravity of each coating position in different winding processes, the horizontal coordinate difference, and the winding rate. The relative distance was positively correlated with the morphological influence degree, while the horizontal coordinate difference and the winding rate were negatively correlated with the morphological influence degree.

[0025] It should be noted that the relative distance between the coordinates of each coating position and the center of gravity during different winding processes reflects the degree of rotational centrifugal force. The farther away from the center of gravity, the stronger the centrifugal force, resulting in increased fiber tension, uneven resin distribution, and a greater degree of morphological influence, showing a positive correlation. The horizontal coordinate difference reflects the distribution of the coating position in the winding direction. The larger the horizontal coordinate difference, the more dispersed the distribution, reducing the interaction force between the same inner fiber layers. The more uniform the stress distribution, the less concentrated influence on the morphology, and the smaller the degree of morphological influence, showing a negative correlation. The faster the winding rate, the shorter the contact time between the fiber and the core mold, the limited resin fluidity, and the smaller the morphological deviation, showing a negative correlation.

[0026] In one embodiment of the present invention, for each winding batch, the relative distance between each coating position and the center of gravity is obtained; the difference in the horizontal coordinates between each coating position and the center of gravity is obtained as the horizontal coordinate difference; the ratio of the relative distance between each coating position and the center of gravity and the horizontal coordinate difference is obtained as the degree of morphological influence of each coating position in each winding batch; therefore, based on the above basic mathematical operations, a correlation between the relative distance, the horizontal coordinate difference and the winding rate and the degree of morphological influence is constructed, that is, the larger the relative distance, the smaller the horizontal coordinate difference, the smaller the winding rate, and the greater the degree of morphological influence.

[0027] As an example, for the ratios of the relative distances and abscissa differences between the three coating positions and the center of gravity, i.e., position deviations of 0.255, 0.1638, and 0.2245, the morphological influence degrees are 12.7511, 8.1918, and 11.2241, respectively. The larger the ratio, the greater the morphological influence degree. It should be noted that, in one embodiment of the present invention, the relative distance is obtained by using an existing distance algorithm such as Euclidean distance or Manhattan distance. The specific means are well known to those skilled in the art and will not be elaborated herein.

[0028] The fiber winding effect after coating is easily affected by the special-shaped structure. The morphological influence at the same position during the rotational winding process will show certain fluctuations. The process stability of each coating position under different winding batches is quantified. According to the degree of morphological influence at different coating positions under different winding batches, the winding effect influence coefficient of each coating position under each winding batch is obtained.

[0029] Preferably, in one embodiment of the present invention, the method for obtaining the winding effect influence coefficient is as follows: Figure 2 , which shows a flow chart of a method for obtaining a winding effect influence coefficient, including: Step S201: For each winding batch, the morphological influence degrees of different coating positions are arranged in ascending order according to coordinates, and the same coating positions are arranged in ascending order according to the morphological influence degree to form a morphological influence degree sequence; the morphological influence degree sequence is clustered to obtain multiple degree clustering clusters.

[0030] It should be noted that, in one embodiment of the present invention, the K-means clustering algorithm can be used to cluster the morphological influence degrees after arrangement, and the morphological influence degrees can be clustered with the nearest clusters. The specific means are technical means well known to those skilled in the art and will not be elaborated here.

[0031] Step S202: Obtain the difference between the morphological influence degree of each coating position and the mean of all morphological influence degrees in the corresponding degree cluster as the first influence coefficient; obtain the difference between the morphological influence degree of each coating position and the mean of the morphological influence degree of the corresponding same position, and perform negative correlation mapping as the second influence coefficient.

[0032] The difference between the morphological influence degree of each coating position and the mean of all morphological influence degrees in the corresponding degree cluster reflects the deviation of the morphological influence degree of each coating position relative to the overall morphological influence degree in the degree cluster. The greater the difference, the more significant the winding influence on each coating position; the difference between the morphological influence degree of each coating position and the mean of the morphological influence degree of the corresponding same position reflects the degree of difference in morphological influence at the same position. The greater the difference, the smaller the influence.

[0033] Step S203: obtaining the product of the first influence coefficient and the second influence coefficient, and normalizing the product to obtain the winding effect influence coefficient of each coating position.

[0034] It should be noted that, in one embodiment of the present invention, the larger the product, the more pronounced the morphological influence of the coating position in the same-position combination is than in the cluster, and the greater the influence of the structural characteristics of the fixed position on the winding effect detection index at that position, that is, the greater the influence of the special-shaped structure on the coating effect at that position during the fiber winding process. Step S3: Based on the winding effect influence coefficients of all coating positions within the neighborhood of each winding batch at the real-time moment, the coating influence coefficient of the coating position of each winding batch before the real-time moment is obtained; based on the distribution of the coating influence coefficients of the coating positions within the neighborhood between adjacent moments of each winding batch, the control stability of the coating positions within the neighborhood of each winding batch at the real-time moment is obtained.

[0035] Winding stability is an analysis of the stability of the winding coating flow control accuracy. The corresponding conical core rotation process is carried out by the coating heads on both sides working together, but the coating positions are affected by different structures. The control of the coating effect is based on the overall stabilization of the coating stability on both sides. According to the winding effect influence coefficient of all coating positions within the neighborhood range of each winding batch at the real time moment, the coating influence coefficient of the coating position of each winding batch before the real time moment is obtained.

[0036] Preferably, in one embodiment of the present invention, the method for obtaining the coating influence coefficient includes: The mean difference of the winding effect influence coefficients of all coating positions between the front and rear sides within the neighborhood range at the real time is obtained and normalized as the coating influence coefficient of the coating position within the neighborhood range at the real time for each winding batch.

[0037] Among them, the greater the difference, the greater the difference in the winding effect influence coefficient, and the greater the coating influence coefficient.

[0038] It should be noted that, in one embodiment of the present invention, the method for obtaining the neighborhood range is to take each moment as the basis, and the range formed by all historical moments is used as the neighborhood range of each moment; in other embodiments of the present invention, the size of the neighborhood range can be set according to the specific circumstances, and is not limited or elaborated here.

[0039] The stability analysis in the control process should be that the system as a whole tends to be stable. By analyzing the distribution of the coating influence coefficient of the coating position in the neighborhood range of adjacent moments, the degree of discreteness of the coating influence coefficient in time can be analyzed. The greater the degree of discreteness, the easier it is to cause the fiber tension to be out of control, and the control stability of the coating position can be quantified; according to the distribution of the coating influence coefficient of the coating position in the neighborhood range between adjacent moments of each winding batch, the control stability of the coating position in the neighborhood range of each winding batch at the real time moment is obtained.

[0040] Preferably, in one embodiment of the present invention, the method for obtaining the control stability includes: According to the difference in coating influence coefficient of the coating position in the neighborhood range between the real time moment and the previous moment under each winding batch, as well as the mean of the coating influence coefficient, the control stability of the coating position in the neighborhood range of each winding batch in the real time moment is obtained.

[0041] It should be noted that the difference in the coating influence coefficient of the coating position within the neighborhood range between the real time moment and the previous moment under each winding batch reflects the flow change in the coating winding process. The greater the difference in the coating influence coefficient, the greater the flow change in the winding control process, the worse the control stability, and the more negative correlation. In one embodiment of the present invention, the coefficient difference of the coating influence coefficient of the coating position within the neighborhood range between the real time moment and the previous moment under each winding batch is obtained, the ratio of the coefficient difference and the mean of the coating influence coefficient is obtained, and a negative correlation normalization mapping is performed as the control stability of the coating position within the neighborhood range of each winding batch at the real time moment; therefore, through the above basic mathematical operations, the correlation between the coefficient difference of the coating influence coefficient and the mean of the coating influence coefficient and the control stability is constructed, that is, the smaller the system difference, the larger the mean of the coating influence coefficient, and the greater the control stability.

[0042] As an example, for the coating influence coefficients of 0.5, 0.4997, 0.4997, and 0.5001 at the coating positions at moments 1, 2, 3, and 4, the control stability levels are 1, 0.9985, 0.9994, 0.9987, and 0.9998, respectively. That is, the larger the mean value of the coating influence coefficient, the greater the control stability at the corresponding moment.

[0043] It should be noted that, in one embodiment of the present invention, negative correlation normalization mapping is performed by an exponential function with a natural constant as the base. In other embodiments of the present invention, the negative correlation normalization mapping can also be achieved by taking the inverse of the ratio result. The larger the ratio result, the lower the control stability. Among them, if the inverse is used to achieve negative correlation mapping, it is necessary to add an artificially set threshold to the denominator to avoid the denominator of the formula being 0, which makes the formula meaningless, such as taking 0.01. The specific means are technical means well known to those skilled in the art and will not be elaborated here.

[0044] Step S4: obtaining a rotation control adjustment step size according to the control stability of the coating position within the neighborhood range of each winding batch at the real time moment and the preset rotation control step size.

[0045] The greater the control stability, the smaller the rotation control adjustment step. The rotation control adjustment step is obtained according to the control stability of the coating position within the neighborhood range of each winding batch at the real time moment and the preset rotation control step.

[0046] Preferably, in one embodiment of the present invention, the method for obtaining the rotation control adjustment step length includes: If the difference in the control stability of the coating position within the neighborhood range of each winding batch between the real time moment and the previous time moment is less than or equal to the preset difference threshold, the ratio of the control stability of the coating position within the neighborhood range of each winding batch at the real time moment to the preset minimum adjustment accuracy is obtained and rounded down as the adjustment coefficient; The difference between the preset rotation control step length and the adjustment coefficient is obtained as the rotation control adjustment step length; otherwise, the preset rotation control step length is used as the rotation control adjustment step length.

[0047] As an example, if the control stability levels at the real time and the previous time are 1 and 0.9901, that is, the control stability level at the real time is greater than or equal to the control stability level at the previous time, no adjustment is performed.

[0048] It should be noted that, in one embodiment of the present invention, the preset difference threshold is set to 0, the preset minimum adjustment accuracy is 0.1, and the preset rotation control step is 3. In other embodiments of the present invention, the preset difference threshold, the preset minimum adjustment accuracy and the preset rotation control step can be set according to the specific circumstances, and are not limited or elaborated here.

[0049] Based on this, after obtaining the rotation control adjustment step, the winding process is adjusted and precisely controlled.

[0050] In summary, the present invention obtains the winding effect influence coefficient of each coating position in each winding batch based on the position characteristics and winding rate of each coating position in different winding processes; obtains the coating influence coefficient of the coating position within the neighborhood range at real time for each winding batch; obtains the control stability of the coating position within the neighborhood range of each winding batch at real time based on the distribution of the coating influence coefficients of the coating positions within the neighborhood range at different times for each winding batch; and obtains the rotation control adjustment step size based on the control stability of the coating position within the neighborhood range of each winding batch at real time and the preset rotation control step size, thereby controlling the winding process. The present invention improves the accuracy of winding control by obtaining an appropriate rotation control step size during the winding process.

[0051] The present invention also proposes a numerically controlled fiber winding control method, which includes: Obtain multiple coating positions of the winding machine and the winding rate in different winding processes under each winding batch; According to the position characteristics and winding rate of each coating position in different winding processes under each winding batch, the morphological influence degree of each coating position under each winding batch is obtained; according to the morphological influence degree of different coating positions under different winding batches, the winding effect influence coefficient of each coating position under each winding batch is obtained; According to the winding effect influence coefficients of all coating positions within the neighborhood of each winding batch at the real time, the coating influence coefficient of the coating position of each winding batch before the real time is obtained; according to the coating influence coefficient distribution of the coating positions within the neighborhood between adjacent moments of each winding batch, the control stability of the coating positions within the neighborhood of each winding batch at the real time is obtained; Obtaining a rotation control adjustment step size based on the control stability of the coating position of each winding batch within a neighborhood range at real time and a preset rotation control step size; The winding process is controlled by adjusting the rotation control step size according to each winding batch.

[0052] It should be understood that the CNC filament winding control method provided in this embodiment is applied to execute the above-mentioned CNC filament winding machine, and therefore has the same steps and beneficial effects as the control method adopted, run or implemented by the application program stored therein.

[0053] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0054] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. A CNC filament winding machine, comprising a winding machine body, wherein the winding machine body comprises a double coating head coating assembly, characterized in that: The device also includes a controller and a measuring detector connected to the controller signal, wherein the measuring detector is used to monitor multiple coating positions of the double-sided coater and the winding rates of different winding processes in each winding batch. The control method of the controller includes: Obtain multiple coating positions of the winding machine and the winding rate in different winding processes under each winding batch; According to the position characteristics and winding rate of each coating position in different winding processes under each winding batch, the morphological influence degree of each coating position under each winding batch is obtained; according to the morphological influence degree of different coating positions under different winding batches, the winding effect influence coefficient of each coating position under each winding batch is obtained; According to the winding effect influence coefficients of all coating positions within the neighborhood of each winding batch at the real time, the coating influence coefficient of the coating position of each winding batch before the real time is obtained; according to the coating influence coefficient distribution of the coating positions within the neighborhood between adjacent moments of each winding batch, the control stability of the coating positions within the neighborhood of each winding batch at the real time is obtained; Obtaining a rotation control adjustment step size based on the control stability of the coating position of each winding batch within a neighborhood range at real time and a preset rotation control step size; The winding process is controlled by adjusting the rotation control step size according to each winding batch.

2. A CNC filament winding machine according to claim 1, characterized in that: The method for obtaining the degree of morphological influence includes: For each winding batch, the morphological influence degree of each coating position in each winding batch was obtained based on the relative distance between the coordinates and the center of gravity of each coating position in different winding processes, the horizontal coordinate difference, and the winding rate. The relative distance was positively correlated with the morphological influence degree, while the horizontal coordinate difference and the winding rate were negatively correlated with the morphological influence degree.

3. The CNC filament winding machine according to claim 1, characterized in that: The method for obtaining the winding effect influence coefficient includes: For each winding batch, the morphological influence degrees of different coating positions are arranged in ascending order according to coordinates, and the same coating positions are arranged in ascending order according to the morphological influence degree to form a morphological influence degree sequence; the morphological influence degree sequence is clustered to obtain multiple degree clustering clusters; Obtain the difference between the morphological influence degree of each coating position and the mean of all morphological influence degrees in the corresponding degree cluster as the first influence coefficient; Obtain the difference between the morphological influence degree of each coating position and the mean morphological influence degree of the corresponding same position, and perform negative correlation mapping as the second influence coefficient; The product of the first influence coefficient and the second influence coefficient is obtained and normalized to be the winding effect influence coefficient of each coating position.

4. The CNC filament winding machine according to claim 1, characterized in that: The method for obtaining the coating influence coefficient includes: The mean difference of the winding effect influence coefficients of all coating positions between the front and rear sides within the neighborhood range at the real time is obtained and normalized as the coating influence coefficient of the coating position within the neighborhood range at the real time for each winding batch.

5. The CNC filament winding machine according to claim 1, characterized in that: The method for obtaining the control stability comprises: According to the difference in coating influence coefficient of the coating position in the neighborhood range between the real time moment and the previous moment under each winding batch, as well as the mean of the coating influence coefficient, the control stability of the coating position in the neighborhood range of each winding batch in the real time moment is obtained.

6. The CNC filament winding machine according to claim 5, characterized in that: The method for obtaining the control stability comprises: Obtain the coefficient difference of the coating influence coefficient of the coating position within the neighborhood range between the real time moment and the previous moment for each winding batch, obtain the ratio of the coefficient difference and the mean value of the coating influence coefficient, and perform negative correlation normalization mapping as the control stability of the coating position within the neighborhood range of each winding batch at the real time moment.

7. The CNC filament winding machine according to claim 1, characterized in that: The method for obtaining the rotation control adjustment step length includes: If the difference in the control stability of the coating position within the neighborhood range of each winding batch between the real time moment and the previous time moment is less than or equal to the preset difference threshold, the ratio of the control stability of the coating position within the neighborhood range of each winding batch at the real time moment to the preset minimum adjustment accuracy is obtained and rounded down as the adjustment coefficient; The difference between the preset rotation control step length and the adjustment coefficient is obtained as the rotation control adjustment step length; otherwise, the preset rotation control step length is used as the rotation control adjustment step length.

8. The CNC filament winding machine according to claim 1, characterized in that: The method for obtaining the neighborhood range includes: Taking each moment as the benchmark, the range formed by all historical moments is used as the neighborhood range of each moment.

9. The CNC filament winding machine according to claim 5, characterized in that: An exponential function with a natural constant as the base is used for negative correlation normalization mapping.

10. A numerical control fiber winding control method, characterized in that: The method comprises: Obtain multiple coating positions of the winding machine and the winding rate in different winding processes under each winding batch; According to the position characteristics and winding rate of each coating position in different winding processes under each winding batch, the morphological influence degree of each coating position under each winding batch is obtained; according to the morphological influence degree of different coating positions under different winding batches, the winding effect influence coefficient of each coating position under each winding batch is obtained; According to the winding effect influence coefficients of all coating positions within the neighborhood of each winding batch at the real time, the coating influence coefficient of the coating position of each winding batch before the real time is obtained; according to the coating influence coefficient distribution of the coating positions within the neighborhood between adjacent moments of each winding batch, the control stability of the coating positions within the neighborhood of each winding batch at the real time is obtained; Obtaining a rotation control adjustment step size based on the control stability of the coating position of each winding batch within a neighborhood range at real time and a preset rotation control step size; The winding process is controlled by adjusting the rotation control step size according to each winding batch.

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