CN102389935B - Fuzzy control method for nonlinear precise forging press - Google Patents
Fuzzy control method for nonlinear precise forging press Download PDFInfo
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- CN102389935B CN102389935B CN 201110291422 CN201110291422A CN102389935B CN 102389935 B CN102389935 B CN 102389935B CN 201110291422 CN201110291422 CN 201110291422 CN 201110291422 A CN201110291422 A CN 201110291422A CN 102389935 B CN102389935 B CN 102389935B
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Abstract
The invention relates to the field of industry automatic control, in particular to a fuzzy control method for a nonlinear precise forging press. A control system comprises a fuzzification interface, a fuzzy reasoning machine, a knowledge base and a defuzzification interface. Input controlled variables are the displacement error e, the displacement error change rate ce and the displacement y of a slider; an output controlled variable is the rotation angle increment deltau of a motor; the displacement error e and the displacement error change rate ce, are converted into appropriate linguistic values in a domain of discourse after being fuzzified by the membership function of the fuzzification interface; fuzzy reasoning is performed on a fuzzified input variable according to a fuzzy rule through the fuzzy reasoning machine to obtain a fuzzy output variable; and weighted average defuzzification is performed on the fuzzy output variable to obtain the actual output rotation angle increment deltau of the motor. The output of the control system provided by the invention is capable of tracking input better, is capable of realizing product processing of which the precision is 10mu m when being applied to the nonlinear precise forging press, and can be widely applied to various nonlinear precise forging presses.
Description
Technical field
The present invention relates to field of industrial automatic control, especially a kind of fuzzy control method of non-linear accurate forging press.
Background technology
Forging and pressing are one of fundamental technologies of machine building industry, are important substance basis and the technical foundation of research and development, all kinds of mechanized equipments of production, are the indispensable blanks of manufacturing machine product vital part and strength member.Its range of application relates to the every field of national economy, national defense industry and social life.In industrial departments such as automobile, rail vehicles, electric power, petrochemical industry, coal, metallurgy, Aeronautics and Astronautics, boats and ships, weapons and machinery, vital load-carrying member is all made by forging.
What domestic metal forming machinery control algolithm was most widely used at present is ratio, integration, differential control, is called for short PID control.The PID controller existing nearly 70 years history so far of coming out, it is simple in structure with it, good stability, reliable operation, easy to adjust and become one of major technique of Industry Control.Yet, for the nonlinear Control field, use traditional pid algorithm and but can not obtain good effect.
The Intelligent Control Theory that the later stage seventies rises is that intelligence control system is by imitating human brain neuromechanism, thinking, expert decision-making, biological evolution and group property etc., can design the controller of high intelligence, for system's control of large-scale complex provides a kind of solution.Fuzzy control is as one of Intelligent Control Theory, use concept and the correlation technique of expert system, the intelligent control system that simulating human expert's control knowledge and skilled engineers and technicians' operating experience is constructed, it is well used in many systems non-linear, that Mathematical Modeling is difficult to set up.
Summary of the invention
The technical problem that the present invention solves is to provide a kind of fuzzy control method non-linear accurate forging press, high-precision non-linear accurate forging press that is suitable for; Can effectively solve classical control theory in the problem that non-linear accurate forging press is difficult to modeling and effectively controls, can realize that precision is the product processing of 10 μ m.
The technical scheme that the present invention solves the problems of the technologies described above is: the control system of described accurate forging press is made of defuzzification interface, indistinct logic computer, knowledge base and ambiguity solution interface; The input controlled quentity controlled variable is displacement error e, displacement error rate of change ce and the displacement y of slide block, and the controlled quentity controlled variable of output is the corner increment Delta u of motor; Displacement error e and displacement error rate of change ce convert language value suitable in the domain to after by defuzzification interface membership function Fuzzy processing, the input variable of obfuscation obtains fuzzy output quantity according to fuzzy rule behind the indistinct logic computer fuzzy reasoning, fuzzy output quantity obtains actual output motor corner increment Delta u behind the weighted average ambiguity solution; Fuzzy controller can be expressed as Δ u=f (∫ edt, e, y).
Described obfuscation is that input variable displacement error e, displacement error rate of change ce and displacement y are transformed to language value suitable on the corresponding basic domain; Displacement error e and displacement error rate of change ce domain are { 12 ,-8 ,-4 ,-1,1,4,8,12 }, fuzzy language value is taken as { NB, NM, NS, NZ, PZ, PS, PM, PB }, displacement y domain is { 0,20,40,60 }, and fuzzy language value is taken as { ZO, PS, PM, PB }.
The total fuzzy control of system is output as the stack that the fuzzy reasoning of the fuzzy reasoning output of Δ u and displacement error e, displacement error rate of change ce and Δ u and displacement y is exported.
The fuzzy rule of Δ u and displacement error e, displacement error rate of change ce is as shown in the table:
The fuzzy rule of Δ u and displacement y is as shown in the table:
| y | Δu |
| ZO | ZO |
| PS | PS |
| PM | PM |
| PB | PB |
Beneficial effect:
The invention has the beneficial effects as follows at the accurate forging press of nonlinear Control and realize that precision is the product processing of 10um, for the forging press of nonlinear Control provides a kind of control scheme.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing:
Fig. 1 is the frame for movement schematic diagram of the accurate forging press of the present invention;
Fig. 2 is mechanism and the force analysis figure of the accurate forging press of the present invention;
Fig. 3 is the structured flowchart of fuzzy controller of the present invention;
Fig. 4 is the obfuscation membership function figure of error e of the present invention and error rate ce;
Fig. 5 is the obfuscation membership function figure of work slider displacement y of the present invention.
The specific embodiment
As shown in Figure 1, the accurate forging press that the present invention relates to is made up of fuselage, low-speed big AC servomotor, synchromesh gear, ball screw, ball spline, driving slide block, compensating cylinder, short connecting rod, bent axle, long connecting rod, slide block 1 etc.The operation principle of forging press is: controller according to the user specify slide block time-corner of position key point control servomotor, the driven by motor synchronous pulley, drive slide block by ball-screw, drive terminal slide block through force-increasing mechanism again and move in vertical direction, thereby drive mold work.Fig. 2 is mechanism and the force analysis figure of forging press, and wherein the A point maintains static, and the C point is slide block 1, and the D point links to each other with screw mandrel, drives bar c motion when screw mandrel moves up and down, because A fixes joint B drive rod b motion, thereby the vertical up-or-down movement of drive slide block.Corner and the slide block movement displacement of servomotor are non-linear relation as can be seen by its operation principle.
The structure of fuzzy controller block diagram as shown in Figure 3, according to the kinetic characteristic of motor and slide block, the control system of accurate forging press is made of defuzzification interface, indistinct logic computer, knowledge base and ambiguity solution interface; The input controlled quentity controlled variable is displacement error e, the displacement error rate of change ce of slide block and the displacement y of work slide block, and the controlled quentity controlled variable of output is the corner increment Delta u of motor; Input control variables displacement error e and displacement error rate of change ce convert language value suitable in the domain to after by defuzzification interface membership function Fuzzy processing, the input variable of obfuscation obtains fuzzy output quantity according to fuzzy rule behind the indistinct logic computer fuzzy reasoning, fuzzy output quantity obtains actual output motor corner increment Delta u behind the weighted average ambiguity solution; Fuzzy controller can be expressed as Δ u=f (∫ edt, e, y).
Obfuscation is the process that input variable displacement error e, displacement error rate of change ce and displacement y is transformed to appropriate language value on the corresponding basic domain.Displacement error e and displacement error rate of change ce domain are { 12 ,-8 ,-4 ,-1,1,4,8,12 }, and fuzzy language value is taken as { NB, NM, NS, NZ, PZ, PS, PM, PB }, and membership function as shown in Figure 4; Displacement y domain is { 0,20,40,60 }, and fuzzy language value is taken as { ZO, PS, PM, PB }, and membership function as shown in Figure 5.
Fuzzy rule adopts the structure of if-then, sums up a series of fuzzy control rules in conjunction with practical experience, forms the fringe control table, as shown in Table 1 and Table 2.Fuzzy input quantity obtains the fuzzy control output quantity through control law, and total output quantity is the stack of two fuzzy rule fuzzy control output quantities.
The fuzzy reasoning table of table 1u and displacement error e, displacement error rate of change ce
The fuzzy reasoning table of table 2u and displacement y
| y | Δu |
| ZO | ZO |
| PS | PS |
| PM | PM |
| PB | PB |
The input fuzzy variable result that reasoning is calculated according to rule list still is fuzzy quantity, uses weighted mean method that the output controlled quentity controlled variable is carried out ambiguity solution, and computing formula is as follows:
Claims (9)
1. the fuzzy control method of non-linear accurate forging press, it is characterized in that: the control system of described accurate forging press is made of defuzzification interface, indistinct logic computer, knowledge base and ambiguity solution interface; The input controlled quentity controlled variable is displacement error e, displacement error rate of change ce and the displacement y of slide block, and the controlled quentity controlled variable of output is the corner increment Delta u of motor; Displacement error e and displacement error rate of change ce convert language value suitable in the domain to after by defuzzification interface membership function Fuzzy processing, the input variable of obfuscation obtains fuzzy output quantity according to fuzzy rule behind the indistinct logic computer fuzzy reasoning, fuzzy output quantity obtains actual output motor corner increment Delta u behind the weighted average ambiguity solution; Fuzzy controller can be expressed as Δ u=f (∫ edt, e, y).
2. fuzzy control method according to claim 1, it is characterized in that: described obfuscation is that input variable displacement error e, displacement error rate of change ce and displacement y are transformed to language value suitable on the corresponding basic domain; Displacement error e and displacement error rate of change ce domain are { 12 ,-8 ,-4 ,-1,1,4,8,12 }, fuzzy language value is taken as { NB, NM, NS, NZ, PZ, PS, PM, PB }, displacement y domain is { 0,20,40,60 }, and fuzzy language value is taken as { ZO, PS, PM, PB }.
3. fuzzy control method according to claim 1 and 2 is characterized in that: the total fuzzy control of system is output as the stack that the fuzzy reasoning of the fuzzy reasoning output of Δ u and displacement error e, displacement error rate of change ce and Δ u and displacement y is exported.
4. fuzzy control method according to claim 1 and 2, it is characterized in that: the fuzzy rule of Δ u and displacement error e, displacement error rate of change ce is as shown in the table:
。
5. fuzzy control method according to claim 3, it is characterized in that: the fuzzy rule of Δ u and displacement error e, displacement error rate of change ce is as shown in the table:
6. fuzzy control method according to claim 1 and 2, it is characterized in that: the fuzzy rule of Δ u and displacement y is as shown in the table:
。
7. fuzzy control method according to claim 3, it is characterized in that: the fuzzy rule of Δ u and displacement y is as shown in the table:
。
8. fuzzy control method according to claim 4, it is characterized in that: the fuzzy rule of Δ u and displacement y is as shown in the table:
。
9. fuzzy control method according to claim 5, it is characterized in that: the fuzzy rule of Δ u and displacement y is as shown in the table:
。
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| CN 201110291422 CN102389935B (en) | 2011-09-30 | 2011-09-30 | Fuzzy control method for nonlinear precise forging press |
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| CN 201110291422 CN102389935B (en) | 2011-09-30 | 2011-09-30 | Fuzzy control method for nonlinear precise forging press |
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| CN108897228B (en) * | 2018-09-06 | 2020-07-03 | 中南大学 | Online control method and system for forging process |
| CN112338960A (en) * | 2020-11-27 | 2021-02-09 | 蒋剑 | Manipulator device and control method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3230930A1 (en) * | 1982-08-20 | 1984-02-23 | Schirmer, Plate und Siempelkamp Hydraulische Pressen GmbH, 4150 Krefeld | Controlling circuit arrangement in a forming press |
| JP3358200B2 (en) * | 1992-02-07 | 2002-12-16 | 石川島播磨重工業株式会社 | Die swing speed control method for running press |
| CN1895809A (en) * | 2005-07-14 | 2007-01-17 | 中南大学 | Controlling system of distributor of large moulded forging hydraulic press |
| CN1928879A (en) * | 2006-09-14 | 2007-03-14 | 中国船舶重工集团公司第十二研究所 | Optimizing method for forging modeling process |
-
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3230930A1 (en) * | 1982-08-20 | 1984-02-23 | Schirmer, Plate und Siempelkamp Hydraulische Pressen GmbH, 4150 Krefeld | Controlling circuit arrangement in a forming press |
| JP3358200B2 (en) * | 1992-02-07 | 2002-12-16 | 石川島播磨重工業株式会社 | Die swing speed control method for running press |
| CN1895809A (en) * | 2005-07-14 | 2007-01-17 | 中南大学 | Controlling system of distributor of large moulded forging hydraulic press |
| CN1928879A (en) * | 2006-09-14 | 2007-03-14 | 中国船舶重工集团公司第十二研究所 | Optimizing method for forging modeling process |
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