CN101444817B - Control method for positioning position-pressure of hydraulic cylinder of large-scale forging manipulator - Google Patents
Control method for positioning position-pressure of hydraulic cylinder of large-scale forging manipulator Download PDFInfo
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- CN101444817B CN101444817B CN2008102469653A CN200810246965A CN101444817B CN 101444817 B CN101444817 B CN 101444817B CN 2008102469653 A CN2008102469653 A CN 2008102469653A CN 200810246965 A CN200810246965 A CN 200810246965A CN 101444817 B CN101444817 B CN 101444817B
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Abstract
The invention discloses a control method for positioning position-pressure of a hydraulic cylinder of a large-scale forging manipulator. The control process comprises the following steps: firstly, an uplift force value Uf is predicated according to the weight of a work piece to be as system input; secondly, Uf is compared with a practical uplift force Vf, PID adjustment is performed according to the difference value e, and a proportional pressure valve is driven through a proportional amplifier to adjust the uplift force P; thirdly, when the practical uplift force V is close to an instruction uplift force U, the difference value e is approximate to zero, and the uplift force F of the hydraulic cylinder is controlled to be above an expected value; fourthly, when gravity and forging down force are larger than the uplift force of the hydraulic cylinder, the piston of the hydraulic cylinder is compressed, and the manipulator is moved downward; conversely, the piston of the hydraulic cylinder extends out, and the manipulator is uplifted. The method is characterized in that after the manipulator is uplifted, position feed back signal Vx is compared with expected height value Ux, when Vx is smaller than Ux, the system adopts the conventional pressure control mode; conversely when Vx is larger than Ux, negative feedback cause the reducing of the output pressure, the uplifting of the hydraulic cylinder is stopped, and the system is shifted into the position-pressure control method.
Description
Technical field
The present invention relates to forging and pressing operating machine, relate in particular to the position-compress control method of large-sized forging manipulator hydraulic cylinder location, be used for promoting and buffering control before the large-sized forging manipulator, the resolve buffer state is a constant lifting force control hydraulic cylinder orientation problem down.
Background technology
In the prior art, lifting and buffering course pressure control scheme comprise the steps before traditional large-sized forging manipulator, at first, according to command signal Uf who goes up top power value of workpiece weight estimation, import as system, the difference e of instruction Uf and top power Vf in fact converts current signal I to by proportional amplifier and drives proportional pressure valve, regulator solution cylinder pressure uplifting pressure P through the PID of routine control and regulation.When in fact power Vf in top was near instruction Uf, difference e became zero, and top power F is controlled on the desired value on the hydraulic cylinder; When gravity and forging hammer downforce greater than hydraulic cylinder on during the power F of top, hydraulic cylinder piston is compressed, manipulator moves down; When gravity and forging hammer downforce less than hydraulic cylinder on during the power F of top, hydraulic cylinder piston stretches out, the manipulator lifting.This is a kind of pressure control mode of routine.When manipulator lifting and pitching system existing problems, need just can solve by the control system parameter is revised.These problems are: (1) preceding cylinder system does not have other detent mechanisms, and before forging and pressing operations, power F in top can not be set to the coupling fully with manipulator gravity on the hydraulic cylinder, so the hydraulic cylinder drift is indefinite; (2) different forging and pressing are operated, and workpiece needs different elemental heights, cause difficulty for the adjustment of hydraulic cylinder.
Summary of the invention
Proposition of the present invention is intended to overcome the shortcoming of prior art, design a kind of by position-pressure controling mode, the new method that large-sized forging manipulator hydraulic cylinder is controlled.
Technical solution of the present invention is achieved in that
Position-the compress control method of a kind of large-sized forging manipulator hydraulic cylinder location, its technical process comprises the steps:
(1) goes up top power value as command signal Uf input system according to one of workpiece weight estimation;
(2) according to the difference e of the instruction Uf of step 1 and top power Vf in fact through the PID of routine control and regulation, convert current signal I to by proportional amplifier and drive proportional pressure valve, regulator solution cylinder pressure uplifting pressure P;
(3) when in fact power Vf in top went up top power Uf near instruction, difference e became zero, and top power F is controlled on the desired value on the hydraulic cylinder;
(4) when gravity and forging hammer downforce greater than hydraulic cylinder on during the power F of top, hydraulic cylinder piston is compressed, manipulator moves down; When gravity and forging hammer downforce less than hydraulic cylinder on during the power F of top, hydraulic cylinder piston stretches out, the manipulator lifting;
It is characterized in that:
(5) after the lifting of manipulator position, the Desired Height Ux of position feed back signal Vx and manipulator relatively, as Vx during less than Ux, system be the compress control method of routine, promptly adopts above-mentioned steps (1)～step (4) just can reach the control purpose;
(6) as the described Vx of step (5) during greater than Ux, the negative-feedback of position signalling reduces output pressure, and hydraulic cylinder stops to rise.
Described upward top power F is set at and is slightly larger than 20～30% of manipulator and workpiece weight, and the increasing of last top power can improve lifting speed; If increase the gain K of position feedback, can improve positioning accuracy, the K value is generally 0.8～0.9.
Compared with prior art, advantage of the present invention is conspicuous, and main performance is to have added Position Control in traditional force control mode, has formed position-pressure control mode.By the negative-feedback of position signalling, on realization is constant, on the basis of top power control, regulate the purpose that realizes Position Control by self-balancing.Overcome the key of hydraulic cylinder height control difficulty in the conventional art, simultaneously, speed and control accuracy have been realized control.
Description of drawings
Drawings attached 2 width of cloth of the present invention, wherein:
Fig. 1 is position of the present invention-pressure control flow block diagram;
Fig. 2 is traditional pressure control flow block diagram.
The specific embodiment
Position-the compress control method of a kind of large-sized forging manipulator hydraulic cylinder location as shown in Figure 1 is used for the control of preceding lifting of this manipulator and buffer solution pressing system.Cylinder is a plunger case before the manipulator, exports the weight that constant lifting force is used for supporting workpiece and claw beam.In the forging and pressing process, when the forging distortion, when the forging central shaft moved down, preceding cylinder was followed workpiece automatically and is descended, and cooperated forging press to finish forging process; And when workpiece was left in the forging hammer lifting, the automatic lifting of preceding cylinder made workpiece be lifted away from anvil, for the workpiece feeding is got ready; When clamp pick-and-place workpiece, preceding cylinder is followed the location of workpiece automatically and is moved up and down, to realize clamp height and workpiece height basically identical.Adopt position-compress control method, export the constant top power that goes up, hydraulic cylinder is moved up and down with forging hammer, rising is ejected by plunger case, descends and is depressed by weight of equipment or forging force.Improved position-pressure controlling party is sent out block diagram as shown in Figure 1, has added Position Control in the block diagram.Ux is the manipulator Desired Height, and when the manipulator actual height was lower than Desired Height, position feedback is output not, and was identical with the force control mode of routine, realizes the constant top power control of going up; When the manipulator actual height was higher than Desired Height, the negative-feedback of position signalling made that top power reduces on the hydraulic cylinder, made hydraulic cylinder stop to rise, and realized the purpose of Position Control.The general top power that goes up is set the weight 20%-30% that is slightly larger than manipulator and workpiece, so before the forging and pressing operation, last top is made every effort to overcome clothes gravity and is made the manipulator lifting, when reaching the position of setting, and under the effect of position negative-feedback signal, last top power reduces, and goes up top power and gravity at last and reaches balance, and hydraulic cylinder is positioned at desired location; In when operation forging and pressing, forging force is depressed hydraulic cylinder greater than top power on the balance, and displacement difference reduces, and last top power increases, and when physical location during less than desired location, the position negative-feedback disappears, and top power maintains the upward top power of setting on the hydraulic cylinder.
Top power is regulated by self-balancing in the whole service process, near the gravity autobalance of manipulator, so we can obtain the A/W of manipulator by top power on the detection balance.
If wish to increase lifting speed, can strengthen the last top power of setting; If wish to improve positioning accuracy, can increase the gain K of position feedback, the K value is generally 0.8～0.9.
The technical process of position-compress control method comprises the steps:
1 in forging process, goes up top power value Uf as the command signal input system according to one of workpiece weight estimation earlier;
The difference e of 2 instruction Uf and top power Vf in fact converts current signal I to by proportional amplifier and drives proportional pressure valve, regulator solution cylinder pressure uplifting pressure P through the PID of routine control and regulation;
3 when in fact power Vf in top is near instruction Uf, and difference e becomes zero, and top power F is controlled on the desired value on the hydraulic cylinder;
4 when gravity and forging hammer downforce greater than hydraulic cylinder on during the power F of top, hydraulic cylinder piston is compressed, manipulator moves down; When gravity and forging hammer downforce less than hydraulic cylinder on during the power F of top, hydraulic cylinder piston stretches out, the manipulator lifting;
It is characterized in that:
After the 5 manipulator position liftings, the Desired Height Ux of position feed back signal Vx and manipulator relatively, as Vx during less than Ux, system be the compress control method of routine, promptly adopts above-mentioned steps (1)-step (4) just can reach the control purpose;
6 as Vx during greater than Ux, and the negative-feedback of position signalling reduces output pressure, makes hydraulic cylinder stop to rise.
Described upward top power is set at and is slightly larger than 20～30% of manipulator and workpiece weight, and the increasing of last top power can improve lifting speed; If improve positioning accuracy, can increase the gain K of position feedback, the K value is generally 0.8～0.9.
Claims (2)
1. position-the compress control method of large-sized forging manipulator hydraulic cylinder location, its technical process comprises the steps:
(1) goes up top power value according to one of workpiece weight estimation and go up top power Uf input system as instruction;
(2) according to the difference e of power Uf in top in the instruction of step (1) and top power Vf in fact through the PID of routine control and regulation, convert current signal I to by proportional amplifier and drive proportional pressure valve, power F in top on the regulator solution cylinder pressure;
(3) when in fact power Vf in top went up top power Uf near instruction, difference e became zero, and top power F is controlled on the desired value on the hydraulic cylinder;
(4) when gravity and forging hammer downforce greater than hydraulic cylinder on during the power F of top, hydraulic cylinder piston is compressed, manipulator moves down; When gravity and forging hammer downforce less than hydraulic cylinder on during the power F of top, hydraulic cylinder piston stretches out, the manipulator lifting;
It is characterized in that:
(5) after the lifting of manipulator position, the Desired Height Ux of position feed back signal Vx and manipulator relatively, as position feed back signal Vx during less than the Desired Height Ux of manipulator, system is conventional compress control method, promptly adopts above-mentioned steps (1)～step (4) just can reach the control purpose;
(6) as the described position feed back signal Vx of step (5) during greater than the Desired Height Ux of manipulator, the negative-feedback of position signalling reduces the output pressure of hydraulic cylinder, and hydraulic cylinder stops to rise.
2. position-the compress control method of large-sized forging manipulator hydraulic cylinder according to claim 1 location, it is characterized in that top power F is set on the described hydraulic cylinder is slightly larger than 20～30% of manipulator and workpiece weight, and the increasing of top power F can improve lifting speed on the hydraulic cylinder; If increase the gain K of position feedback, can improve positioning accuracy, the K value is generally 0.8～0.9.
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| CN101819424B (en) * | 2010-01-25 | 2013-01-16 | 南京埃斯顿自动化股份有限公司 | Method and controller for controlling position, pressure measurement and safe control of sliding block of forging machine tool |
| CN102357636B (en) * | 2011-08-23 | 2013-09-18 | 山东理工大学 | Striking force error control method of pressed piece |
| CN102430683B (en) * | 2011-10-18 | 2013-11-27 | 佛山市顺德工业与信息技术研究中心有限公司 | Error real time online compensation method for precise servo forging press |
| CN105880449B (en) * | 2016-04-07 | 2017-09-05 | 中南大学 | The on-line prediction method and system of drop press running status |
| CN117432671A (en) * | 2023-11-20 | 2024-01-23 | 中机锻压江苏股份有限公司 | High-safety electric control follow-up main control valve and use method thereof |
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Owner name: CHINA FIRST HEACY MACHINE STOCK CO., LTD. Free format text: FORMER OWNER: CHINESE NO.1 HEAVY MECHANICAL GROUP CO. Effective date: 20090814 |
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Effective date of registration: 20090814 Address after: Zip Road, Fulaerji District, Qigihar City, Heilongjiang Province Post Code: 161042 Applicant after: China first heavy-duty machinery stock company Co-applicant after: Dalian Design Institute Co., Ltd., China First Heavy Industries Address before: Zip Road, Fulaerji District, Qigihar City, Heilongjiang Province Post Code: 161042 Applicant before: China first heavy-duty machinery Group Corporation Co-applicant before: Dalian Design Institute Co., Ltd., China First Heavy Industries |
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