priborИзвестия высших учебных заведений. ПриборостроениеJournal of Instrument Engineering0021-34542500-0381Национальный исследовательский университет ИТМО10.17586/0021-3454-2026-69-2-172-184pribor-470Research ArticleПРОЕКТИРОВАНИЕ И ТЕХНОЛОГИЯ ПРОИЗВОДСТВА ПРИБОРОВDESIGN AND PRODUCTION TECHNOLOGY OF INSTRUMENTSМоделирование узла натяжения ленты препрега для автоматизированной выкладкиModeling of the Tension Node of the Prepreg Tape for Automated Placement ProcessЛовлинС. Ю.LovlinS. Yu.

Сергей Юрьевич Ловлин — канд. техн. наук, доцент, факультет систем управления и робототехники; доцент,

Санкт-Петербург.

Sergei Yu. Lovlin — PhD, Associate Professor, Faculty of Control Systems and Robotics,

St. Petersburg.

sjlovlin@itmo.ruЮвшинА. М.IuvshinA. M.

Александр Михайлович Ювшин — канд. техн. наук; ведущий инженер-конструктор, 

Санкт-Петербург.

Aleksandr M. Iuvshin — PhD, Leading Design Engineer,

St. Petersburg.

yuvshin.alex@yandex.ruИвановА. С.IvanovA. S.

Алексей Сергеевич Иванов — магистр; Научно-производственный комплекс „Беспилотные авиационные морские системы“, ведущий инженер-конструктор, 

Санкт-Петербург.

Aleksei S. Ivanov — MSc; Department of Unmanned Aero-Hydraulic Systems, Leading Design Engineer,

St. Petersburg.

Aleksey.ivanof98@gmail.comУниверситет ИТМОРоссияITMO UniversityRussian FederationАО „Цифровая сборка“РоссияJSC Digital AssemblyRussian FederationНПП „Радар ММС”РоссияRadar MMSRussian Federation202613032026692172184Copyright © Национальный исследовательский университет ИТМО, 20262026Национальный исследовательский университет ИТМОНациональный исследовательский университет ИТМОhttps://pribor.ifmo.ru/jour/about/submissions#copyrightNoticehttps://pribor.ifmo.ru/jour/article/view/470

Решена задача моделирования узла натяжения ленты препрега в процессе автоматизированной выкладки. Показано, что обычно узел подачи моделируется как механическая система с постоянным моментом инерции катушки и неизменной геометрией подводящего участка, что не соответствует реальному процессу размотки. Предложена математическая модель, учитывающая намотку материала на катушку по спирали, изменение радиуса катушки и момента инерции системы, а также зависимость длины ленты между катушкой и обводным роликом от угла поворота катушки. Проанализировано влияние жесткости пружины и расстояния между катушкой и обводным роликом на пульсации силы натяжения и рабочий ход пружины. Показано, что уменьшение жесткости пружины снижает амплитуду пульсаций, но повышает габариты узла натяжения, а увеличение расстояния между катушкой и обводным роликом уменьшает требуемый рабочий ход пружины. Представлен подход к выбору жесткости пружины и расстояния между катушкой и обводным роликом, основанный на минимизации габаритов узла натяжения при ограничении на максимально допустимые пульсации силы натяжения. Разработанная модель может использоваться при проектировании систем натяжения ленты препрега и выборе параметров пассивных компенсаторов натяжения. 

The problem of modeling the tension node of the prepreg tape in automated placement process is solved. It is shown that the feed unit is usually modeled as a mechanical system with a constant moment of inertia of the coil and a constant geometry of the feed section, which does not correspond to the actual unwinding process. A mathematical model is proposed that takes into account the winding of the material on the coil in a spiral, the change in the radius of the coil and the moment of inertia of the system, as well as the dependence of the length of the tape between the coil and the bypass roller on the angle of rotation of the coil. The effect of spring stiffness and the distance between the coil and the bypass roller on the tension force pulsations and the working stroke of the spring is analyzed. It is shown that reducing the spring stiffness reduces the amplitude of the pulsations, but increases the dimensions of the tension unit, and increasing the distance between the coil and the bypass roller reduces the required working stroke of the spring. An approach to choosing the spring stiffness and the distance between the coil and the bypass roller is presented, based on minimizing the dimensions of the tension unit while limiting the maximum allowable tension force pulsations. The developed model can be used in the design of prepreg tape tension systems and the selection of parameters for passive tension compensators.

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The authors declare that there are no conflicts of interest present.