Filament winding device

A filament winding device that winds a fiber bundle around a liner including a cylindrical body portion and a pair of dome-shaped end portions formed at both sides of the body portion, the filament winding device comprising:

• a rotating unit configured to rotate the liner about a central axis of the liner;
• a guide roller configured to guide the fiber bundle wound around the liner;
• a first moving unit configured to move the guide roller in an axial direction of the liner;
• a second moving unit configured to move the guide roller in a radial direction of the liner;
• a swing unit configured to rotate the guide roller such that a central axis of the guide roller swings;
• a rotation angle measuring unit configured to measure a rotation angle of the liner;
• a first measuring unit configured to measure a first position of the guide roller in the axial direction;
• a second measuring unit configured to measure a second position of the guide roller in the radial direction;
• a swing angle measuring unit configured to measure a swing angle of the guide roller;
• and
• a controller configured to control the rotating unit, the first moving unit, the second moving unit, and the swing unit, based on each of command values of the rotation angle of the liner, and the first position, the second position, and the swing angle of the guide roller, the command values being set depending on an elapsed time from a start of a winding of the fiber bundle, wherein:
• the controller is configured to include
• an associating unit configured to associate measured values of the first position, the second position, and the swing angle of the guide roller, corresponding to each rotation angle of the liner, with a measured value of the rotation angle of the liner,
• a difference calculating unit configured to calculate differences between the command values of the first position, the second position, and the swing angle of the guide roller and the measured values of the first position, the second position, and the swing angle of the guide roller corresponding to the rotation angle of the liner, based on the measured values of the guide roller associated with the rotation angle of the liner and the command values of the guide roller, corresponding to each command value of the rotation angle of the liner,
• an offset time calculating unit configured to, when any one of the differences exceeds a predetermined threshold, calculate an offset time with respect to the command values of the rotational angle of the liner, the first position, the second position, and the swing angle of the guide roller, based on the difference exceeding the threshold, and
• a correcting unit configured to correct the command values that are set depending on an elapsed time since a point in time when the difference exceeds the threshold, to the command values that are set after the offset time;
• and
• the controller is configured to perform the control based on the command value after correcting the command values.