CN102500735B - 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 a kind of for there is cylinder hydraulic system and requiring that the strain rate of the cylinder hydraulic system of the isothermal forging hydraulic press that speeds control and leveling control controls and multi-point leveling control method.
Background technology
Along with the develop rapidly of hydrostatic forging industry, leveling for isothermal forging hydraulic press operating rate and slide block requires also more and more higher, along with the isothermal forging hydraulic pressure with cylinder hydraulic system is put in production, the operating rate how better controlling to have the isothermal forging hydraulic press of cylinder hydraulic system has also become problem in the urgent need to address with leveling.
Summary of the invention
The present invention provides a kind of strain rate reaching the cylinder hydraulic system controlling cylinder hydraulic system strain rate and multi-point leveling to control and multi-point leveling control method for solving in known technology the technical problem that exists.
The technical scheme that the present invention takes for the technical problem existed in solution known technology is, a kind of strain rate of cylinder hydraulic system is provided to control and multi-point leveling control method, before program is run, first the displacement of each cylinder is considered as an axle, is respectively the first axle, the second axle, the 3rd axle and the 4th axle; The average displacement of each cylinder is considered as an imaginary axis, and be average axle, average axle is the reference axis of leveling, below said slider displacement and ram speed all refer to this average axle; Control method specifically comprises the steps:
1) running beginning in program and first judge whether slide block arrives between blanketed zone, is enter next step, otherwise continues to judge whether slide block arrives between blanketed zone;
2) judge whether each axle speed equals setting speed, and, judge that whether the shift differences ep of each axle meets the requirement of setting, be control servo valve to maintain the aperture of last time and export and enter the 6th step, otherwise enter next step;
3) best controling parameters is filtered out according to each axle current displacement difference e p and speed difference es;
4) pid control algorithm of leveling speed governing two close cycles is adopted to control the aperture of each cylinder servo valve;
5) each cylinder servo valve exports by calculated control aperture;
6) judging whether slide block arrives stop position, be that leveling speed regulation process terminates, otherwise step 2 continues.
The shift differences ep of each axle described in step 2, the displacement referring to each cylinder respectively with the displacement difference of the average axle as imaginary axis, correspond to ep1, ep2, ep3 and ep4 respectively.
Speed difference es described in step 3, that the velocity of displacement obtaining each cylinder is set to V1, V2, V3 and V4, the average displacement speed of setting is V5, and the difference of the velocity of displacement of each cylinder and the average displacement speed V of setting is exactly speed difference es, corresponds to es1, es2, es3, es4 respectively.
The controling parameters of the best described in step 3 will find out the best controling parameters being decided to be the best of effect in the process of modulation.
Pid control algorithm described in step 4 adopts as follows for the speed governing leveling formula of the first axle, 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 front difference; Ki, Kp, Kd, gd, gp are each term coefficient, i.e. described controling parameters: Ki integral item coefficient; Kp proportional coefficient; Kd differential term coefficient; Gi integral item coefficient; Gp proportional coefficient.
The advantage that the present invention has and good effect are: the strain rate of cylinder hydraulic system of the present invention controls and multi-point leveling control method, filter out best controling parameters by fuzzy control, then controlled strain rate and the leveling precision of multi-cylinder system by the pid algorithm of leveling speed governing two close cycles.Servo valve control precision is high, controls under can realizing cylinder hydraulic system to the high accuracy of slide block multiple spot speed and leveling.
Accompanying drawing explanation
Fig. 1 is control flow chart of the present invention.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby enumerate following examples, and the strain rate coordinating accompanying drawing to describe cylinder hydraulic system of the present invention in detail controls and multi-point leveling control method is as follows:
The strain rate of cylinder hydraulic system of the present invention controls and multi-point leveling control method, the servo valve of BOSCH-REXROTH is set in the hydraulic system of hydraulic press and the displacement transducer of high accuracy high transmission speed is set on the slide block of hydraulic press, and realize the change of servo valve openings of sizes by motion controller and then control oil inlet quantity and the oil-feed direction of each hydraulic cylinder, thus reach the object controlling cylinder hydraulic system strain rate and multi-point leveling.
When slide block enters between blanketed zone, begin through servo valve control flow so that realize slide block strain rate control and leveling control.Motion controller selects best controling parameters by calculating displacement difference between the deviation of user's setting speed and slide block actual speed and slide block multiple spot, then regulate the aperture of servo valve to control each hydraulic cylinder oil inlet quantity by the pid control algorithm of two close cycles, thus realize cylinder hydraulic system speed and leveling controlled.
The strain rate of cylinder hydraulic system control and multi-point leveling control method specifically: before program operation, first the displacement of each cylinder is considered as an axle, is respectively the first axle, the second axle, the 3rd axle and the 4th axle; The average displacement of each cylinder is considered as an imaginary axis, and be average axle, average axle is the reference axis of leveling, below said slider displacement and ram speed all refer to this average axle; Control method as shown in Figure 1, comprises the steps:
1) running beginning in program and first judge whether slide block arrives between blanketed zone, is enter next step, otherwise continues to judge whether slide block arrives between blanketed zone;
2) judge whether each axle speed equals setting speed, and, judge that whether the shift differences ep of each axle meets the requirement of setting, be control servo valve to maintain the aperture of last time and export and enter the 6th step, otherwise enter next step;
The shift differences ep of described each axle, the displacement referring to each cylinder respectively with the displacement difference of the average axle as imaginary axis, correspond to ep1, ep2, ep3 and ep4 respectively.
3) best controling parameters is filtered out according to each axle current displacement difference e p and speed difference es;
Described speed difference es, that the velocity of displacement obtaining each cylinder is set to V1, V2, V3 and V4, the average displacement speed of setting is V5, and the difference of the velocity of displacement of each cylinder and the average displacement speed V of setting is exactly speed difference es, corresponds to es1, es2, es3, es4 respectively.
The controling parameters of described the best will find out the best controling parameters being decided to be the best of effect in the process of modulation.
4) pid control algorithm of leveling speed governing two close cycles is adopted to control the aperture of each cylinder servo valve;
5) each cylinder servo valve exports by calculated control aperture;
Described pid control algorithm adopts as follows for the speed governing leveling formula of the first axle, 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 front difference; Ki, Kp, Kd, gi, gp are each term coefficient, i.e. described controling parameters.
System according to speed difference es and leveling difference ep value place interval, correspondence of tabling look-up goes out suitable gi, gp value, then goes out e1 value according to formulae discovery, and then according to the interval at e1 value place, correspondence of tabling look-up goes out suitable Ki, Kp, Kd value.Determine after wherein every coefficient value of the interval correspondence of es, ep, e1 all needs field adjustable, theoretical interval and theoretical value before debugging, can only be provided.
6) judging whether slide block arrives stop position, be that leveling speed regulation process terminates, otherwise step 2 continues.
Known from the above mentioned, the strain rate of cylinder hydraulic system of the present invention controls and multi-point leveling control method, in isothermal forging pressing component pressing process, first select best controling parameters by fuzzy control, then realize controlling the strain rate of cylinder hydraulic system and the high accuracy of leveling by the pid algorithm of two close cycles.
Claims (1)
1. the strain rate of cylinder hydraulic system controls and a multi-point leveling control method, it is characterized in that: before program is run, first the displacement of each cylinder is considered as an axle, is respectively the first axle, the second axle, the 3rd axle and the 4th axle; The average displacement of each cylinder is considered as an imaginary axis, and be average axle, average axle is the reference axis of leveling, below said slider displacement and ram speed all refer to this average axle; Control method specifically comprises the steps:
1) running beginning in program and first judge whether slide block arrives between blanketed zone, is enter next step, otherwise continues to judge whether slide block arrives between blanketed zone;
2) judge whether each axle speed equals setting speed, and, judge whether the shift differences ep of each axle meets the requirement of setting, control servo valve to maintain the aperture of last time and export and enter the 6th) step, otherwise enter next step, the shift differences ep of described each axle, the displacement referring to each cylinder respectively with the displacement difference of the average axle as imaginary axis, correspond to ep1, ep2, ep3 and ep4 respectively;
3) best controling parameters is filtered out according to each axle current displacement difference e p and speed difference es, described speed difference es, that the velocity of displacement obtaining each cylinder is set to V1, V2, V3 and V4, the average displacement speed of setting is V5, the difference of the velocity of displacement of each cylinder and the average displacement speed V5 of setting is exactly speed difference es, corresponds to es1, es2, es3, es4 respectively; The controling parameters of described the best will find out the best controling parameters being decided to be the best of effect in the process of modulation;
4) adopt the pid control algorithm of leveling speed governing two close cycles to control the aperture of each cylinder servo valve, described pid control algorithm adopts as follows for the speed governing leveling formula of the first axle, 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 front difference; Ki, Kp, Kd, gi, gp are each term coefficient, i.e. described controling parameters: Ki integral item coefficient; Kp proportional coefficient; Kd differential term coefficient; Gi integral item coefficient; Gp proportional coefficient;
5) each cylinder servo valve exports by calculated control aperture;
6) judging whether slide block arrives stop position, is that leveling speed regulation process terminates, otherwise step 2) continue.
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| CN106825353B (en) * | 2016-12-30 | 2018-08-10 | 南京埃斯顿自动化股份有限公司 | A kind of control method of multiple pressure machine sharing die processing |
| CN107263890B (en) * | 2017-06-30 | 2023-04-07 | 江西海源复合材料科技股份有限公司 | Moment leveling control method and leveling device for composite material press |
| CN107244609B (en) * | 2017-07-25 | 2019-07-19 | 中国核工业第五建设有限公司 | Automatic leveling hanging device, system and method |
| CN108273952B (en) * | 2017-12-29 | 2019-08-02 | 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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