CN102500735A - Strain rate control and multi-point leveling control method for multi-cylinder hydraulic system - Google Patents
Strain rate control and multi-point leveling control method for multi-cylinder hydraulic system Download PDFInfo
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Abstract
Disclosed is a strain rate control and multi-point leveling control method for a multi-cylinder hydraulic system. Before a program runs, displacements of cylinders are used as axes at first, the axes include a first axis, a second axis, a third axis and a fourth axis; the average displacement of the cylinders is used as a virtual axis which is an average axis, and the average axis is a leveling reference axis. The control method particularly includes steps of judging whether a slider reaches a pressing region or not at first when the program starts to run; judging whether speeds of the axes are equal to set speeds or not; selecting the optimal control parameter according to current displacement difference ep and speed difference es of each axis; controlling opening of a servo valve of each cylinder by the aid of a PID (proportion, integration and differentiation) algorithm for leveling and speed regulating of double closed rings; realizing output of the servo valve of each cylinder according to the corresponding controlled opening of the servo valve of each cylinder; and judging whether the slider reaches a stop position, and stopping a leveling and speed regulating process if the slider reaches the stop position. The strain rate control and multi-point leveling control method for the multi-cylinder hydraulic cylinder has the advantages that control precision of the servo valves is high, and high-precision control for multi-point rate of the slider and leveling in the multi-cylinder hydraulic system can be realized.
Description
Technical field
The present invention relates to a kind of control method of hydraulic press, particularly relate to and a kind ofly be used to have the multicylinder hydraulic system and require speed controlling and control of the strain rate of the multicylinder hydraulic system of the isothermal forging hydraulic press of leveling control and multiple spot leveling control method.
Background technology
Develop rapidly along with the hydrostatic forging industry; Leveling for isothermal forging hydraulic press operating rate and slide block requires also increasingly high; Along with the isothermal forging hydraulic pressure with multicylinder hydraulic system is put in the production, how better operating rate and the leveling of control with isothermal forging hydraulic press of multicylinder hydraulic system also become to press for the problem of solution.
Summary of the invention
The present invention provides a kind of strain rate control and multiple spot leveling control method that reaches the multicylinder hydraulic system of control multicylinder hydraulic system's strain rate and multiple spot leveling for solving the technical problem that exists in the known technology.
The technical scheme that the present invention takes for the technical problem that exists in the solution known technology is; The strain rate control and the multiple spot leveling control method of a kind of multicylinder hydraulic system are provided; Before program running; At first the displacement with each cylinder is regarded as an axle, is respectively first, second, the 3rd and the 4th; The average displacement of each cylinder is regarded as an imaginary axis, is mean axis, and mean axis is the reference axis of leveling, below said slider displacement and ram speed all refer to this mean axis; Control method specifically comprises the steps:
1) begins at first to judge in program running whether slide block arrives between the blanketed zone, be to get into next step, otherwise continue to judge whether slide block arrives between the blanketed zone;
2) judge whether each speed equals setting speed, and, judge whether the displacement difference ep of each satisfies the requirement of setting, be that the control servo valve is kept the aperture output of last time and got into the 6th step, otherwise get into next step;
3) filter out the best control parameter according to each current displacement difference e p and speed difference es;
4) aperture of each cylinder servo valve of pid control algorithm control of the two closed loops of employing leveling speed governing;
5) each cylinder servo valve is by the control aperture output that is calculated;
6) judging whether slide block arrives stop position, be that the leveling speed regulation process finishes, otherwise step 2 continues.
Described each the displacement difference ep of step 2, the displacement that is meant each cylinder respectively with displacement difference as the mean axis of imaginary axis, correspond to ep1, ep2, ep3 and ep4 respectively.
The described speed difference of step 3 es; Be that the velocity of displacement that obtains each cylinder is made as V1, V2, V3 and V4; The average displacement speed of setting is V5, and the difference of the average displacement speed V of the velocity of displacement of each cylinder and setting is exactly speed difference es, corresponds to es1, es2, es3, es4 respectively.
The described best control parameter of step 3, be with in the process of modulation, find out effect best be decided to be the best control parameter.
The described pid control algorithm of step 4 is that employing is the speed governing leveling formula of example with first as follows, and other axle is also identical, i.e. the aperture of servo valve:
U(t)=U(t-1)+Ki×e1+Kp×(e1-e101)+Kd×（e1-2×e101+e102）
Wherein
e1=es1+gi×ep1+gp×(ep1-ep101)?；
U (t): current output; U (t-1): last output; E1: current difference; E101: last difference; E102: a preceding difference; Ki, Kp, Kd, gd, gp are each item coefficient, promptly said control parameter: Ki integral item coefficient; Kp proportional coefficient; Kd differential term coefficient; The gi integral item coefficient; Gp proportional coefficient.
Advantage and good effect that the present invention has are: the strain rate control and the multiple spot leveling control method of multicylinder hydraulic of the present invention system; Filter out the best control parameter through fuzzy control, control the strain rate and the leveling precision of multi-cylinder system then through the pid algorithm of the two closed loops of leveling speed governing.The servo valve control accuracy is high, can realize under the multicylinder hydraulic system High Accuracy Control to slide block multiple spot speed and leveling.
Description of drawings
Fig. 1 is a control flow chart of the present invention.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, enumerate following examples now, and conjunction with figs. to specify the strain rate control and the multiple spot leveling control method of multicylinder hydraulic of the present invention system following:
The strain rate control and the multiple spot leveling control method of multicylinder hydraulic of the present invention system; The displacement transducer that the high accuracy high transmission speed is set on servo valve and the slide block at hydraulic press of BOSCH-REXROTH is set in the hydraulic system of hydraulic press; And realize the variation of servo valve openings of sizes and then control oil inlet quantity and the oil-feed direction of each hydraulic cylinder, thereby reach the purpose of controlling multicylinder hydraulic system's strain rate and multiple spot leveling through motion controller.
When slide block gets between the blanketed zone, begin strain rate control and leveling control through servo valve control flow and then realization slide block.Displacement difference is selected the best control parameter between deviation and the slide block multiple spot of motion controller through calculating user's setting speed and slide block actual speed; Pid control algorithm through the two closed loops aperture of regulating servo valve is controlled each hydraulic cylinder oil inlet quantity then, thereby realizes that multicylinder hydraulic system speed and leveling are controlled.
Control of the strain rate of multicylinder hydraulic system and multiple spot leveling control method be specifically: before program running, at first the displacement with each cylinder is regarded as an axle, is respectively first, second, the 3rd and the 4th; The average displacement of each cylinder is regarded as an imaginary axis, is mean axis, and mean axis is the reference axis of leveling, below said slider displacement and ram speed all refer to this mean axis; Control method is as shown in Figure 1, comprises the steps:
1) begins at first to judge in program running whether slide block arrives between the blanketed zone, be to get into next step, otherwise continue to judge whether slide block arrives between the blanketed zone;
2) judge whether each speed equals setting speed, and, judge whether the displacement difference ep of each satisfies the requirement of setting, be that the control servo valve is kept the aperture output of last time and got into the 6th step, otherwise get into next step;
Described each displacement difference ep, the displacement that is meant each cylinder respectively with displacement difference as the mean axis of imaginary axis, correspond to ep1, ep2, ep3 and ep4 respectively.
3) filter out the best control parameter according to each current displacement difference e p and speed difference es;
Described speed difference es; Be that the velocity of displacement that obtains each cylinder is made as V1, V2, V3 and V4; The average displacement speed of setting is V5, and the difference of the average displacement speed V of the velocity of displacement of each cylinder and setting is exactly speed difference es, corresponds to es1, es2, es3, es4 respectively.
Described best control parameter, be with in the process of modulation, find out effect best be decided to be the best control parameter.
4) aperture of each cylinder servo valve of pid control algorithm control of the two closed loops of employing leveling speed governing;
5) each cylinder servo valve is by the control aperture output that is calculated;
Described pid control algorithm is that employing is the speed governing leveling formula of example with first as follows, and other axle is also identical, i.e. the aperture of servo valve:
U(t)=U(t-1)+Ki×e1+Kp×(e1-e101)+Kd×（e1-2×e101+e102）
Wherein
e1=es1+gi×ep1+gp×(ep1-ep101)?；
U (t): current output; U (t-1): last output; E1: current difference; E101: last difference; E102: a preceding difference; Ki, Kp, Kd, gi, gp are each item coefficient, promptly said control parameter.
System is according to the interval at speed difference es and leveling difference ep value place, and the correspondence of tabling look-up goes out suitable gi, gp value, then calculates the e1 value according to formula, and according to the interval at e1 value place, the correspondence of tabling look-up goes out suitable Ki, Kp, Kd value then.Wherein interval corresponding each item coefficient value of es, ep, e1 all needs to confirm behind the field adjustable, can only provide theoretical interval and theoretical value before the debugging.
6) judging whether slide block arrives stop position, be that the leveling speed regulation process finishes, otherwise step 2 continues.
Can know from the above mentioned; The strain rate control and the multiple spot leveling control method of multicylinder hydraulic of the present invention system; In isothermal forging compacting workpiece pressing process; Select the best control parameter through fuzzy control earlier, realize the strain rate of multicylinder hydraulic system and the High Accuracy Control of leveling through the pid algorithm of two closed loops then.
Claims (5)
1. the strain rate of a multicylinder hydraulic system is controlled and multiple spot leveling control method, and it is characterized in that: before program running, at first the displacement with each cylinder is regarded as an axle, is respectively first, second, the 3rd and the 4th; The average displacement of each cylinder is regarded as an imaginary axis, is mean axis, and mean axis is the reference axis of leveling, below said slider displacement and ram speed all refer to this mean axis; Control method specifically comprises the steps:
1) begins at first to judge in program running whether slide block arrives between the blanketed zone, be to get into next step, otherwise continue to judge whether slide block arrives between the blanketed zone;
2) judge whether each speed equals setting speed, and, judge whether the displacement difference ep of each satisfies the requirement of setting, be that the control servo valve is kept the aperture output of last time and got into the 6th step, otherwise get into next step;
3) filter out the best control parameter according to each current displacement difference e p and speed difference es;
4) aperture of each cylinder servo valve of pid control algorithm control of the two closed loops of employing leveling speed governing;
5) each cylinder servo valve is by the control aperture output that is calculated;
6) judging whether slide block arrives stop position, be that the leveling speed regulation process finishes, otherwise step 2 continues.
2. the strain rate control and the multiple spot leveling control method of multicylinder hydraulic according to claim 1 system; It is characterized in that: described each the displacement difference ep of step 2; The displacement that is meant each cylinder respectively with displacement difference as the mean axis of imaginary axis, correspond to ep1, ep2, ep3 and ep4 respectively.
3. the strain rate control and the multiple spot leveling control method of multicylinder hydraulic according to claim 1 system; It is characterized in that: the described speed difference of step 3 es; Be that the velocity of displacement that obtains each cylinder is made as V1, V2, V3 and V4; The average displacement speed of setting is V5, and the difference of the average displacement speed V of the velocity of displacement of each cylinder and setting is exactly speed difference es, corresponds to es1, es2, es3, es4 respectively.
4. the strain rate control and the multiple spot leveling control method of multicylinder hydraulic according to claim 1 system is characterized in that: the described best control parameter of step 3, be with in the process of modulating, find out effect best be decided to be the best control parameter.
5. the strain rate control and the multiple spot leveling control method of multicylinder hydraulic according to claim 1 system; It is characterized in that: the described pid control algorithm of step 4 is that adopting following is the speed governing leveling formula of example with first; Other axle is also identical, i.e. the aperture of servo valve:
U(t)=U(t-1)+Ki×e1+Kp×(e1-e101)+Kd×（e1-2×e101+e102）
Wherein
e1=es1+gi×ep1+gp×(ep1-ep101)?；
U (t): current output; U (t-1): last output; E1: current difference; E101: last difference; E102: a preceding difference; Ki, Kp, Kd, gd, gp are each item coefficient, promptly said control parameter: Ki integral item coefficient; Kp proportional coefficient; Kd differential term coefficient; The gi integral item coefficient; Gp proportional coefficient.
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| CN106825353A (en) * | 2016-12-30 | 2017-06-13 | 南京埃斯顿自动化股份有限公司 | A kind of control method of many press sharing die processing |
| CN107244609A (en) * | 2017-07-25 | 2017-10-13 | 中国核工业第五建设有限公司 | Automatic leveling hanging device, system and method |
| CN107263890A (en) * | 2017-06-30 | 2017-10-20 | 福建海源自动化机械股份有限公司 | Torque leveling control method and levelling device for composite press |
| CN108273952A (en) * | 2017-12-29 | 2018-07-13 | 南京埃斯顿自动化股份有限公司 | A kind of control method of multi-cylinder synchronous |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106825353A (en) * | 2016-12-30 | 2017-06-13 | 南京埃斯顿自动化股份有限公司 | A kind of control method of many press sharing die processing |
| CN107263890A (en) * | 2017-06-30 | 2017-10-20 | 福建海源自动化机械股份有限公司 | Torque leveling control method and levelling device for composite press |
| CN107244609A (en) * | 2017-07-25 | 2017-10-13 | 中国核工业第五建设有限公司 | Automatic leveling hanging device, system and method |
| CN108273952A (en) * | 2017-12-29 | 2018-07-13 | 南京埃斯顿自动化股份有限公司 | A kind of control method of multi-cylinder synchronous |
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