CN103074474B - Control system for rolling and strengthening torsion shaft of heavy armored vehicle - Google Patents
Control system for rolling and strengthening torsion shaft of heavy armored vehicle Download PDFInfo
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Abstract
The invention provides a control system for rolling and strengthening a torsion shaft of a heavy armored vehicle. The control system comprises a rolling motion control subsystem, a hydraulic rolling-head control subsystem, and a measurement and data acquisition processing subsystem, wherein the rolling motion control subsystem and the hydraulic rolling-head control subsystem are respectively connected with the measurement and data acquisition processing subsystem. The rolling motion control subsystem mainly comprises two photoelectric encoders, a motion control unit, a Z-axis servo motor and a spindle servo motor; the hydraulic rolling-head control subsystem comprises a PID (Proportion Integration Differentiation) control unit, a hydraulic pump station, an electro-hydraulic flow servo valve and a pressure sensor; and the measurement and data acquisition processing subsystem mainly comprises a laser displacement sensor, a high-resolution photoelectric encoder and a data processing module. According to the control system for rolling and strengthening the torsion shaft of the heavy armored vehicle, the intelligent control of processing, measurement and hydraulic systems can be realized, the automation degree is high, the extension of the systems is easy, the intelligent control of torsion shaft parts is realized, and the rolling processing efficiency is improved.
Description
Technical field
The present invention relates to a kind of knurling machine Controlling System, be specifically related to a kind of Controlling System of the torsion shaft of heavy armored vehicle being carried out to finish rolling hardening.
Background technology
Under usual conditions, the driving conditions of heavy armored vehicle is severe, and its transmission needs regular being operated under large loading condiction by torsion shaft.The torsion shaft of heavy armored vehicle is that vehicle motor is sent to power the important driving parts of wheel hub, in working process, bearing larger distortion and rolling load, therefore improve the surperficial matter density of torsion shaft and surface smoothness to improving torsion shaft hardness, reduce torsion shaft and under repeatability, high strength, produce surface crack and have important effect.
By the roll extrusion polishing to torsion shaft and strengthening processing, the surface working of particularly torsion shaft axle journal, wheel seat etc. being located, plays a significant role improving surface quality and the fatigue strength of axletree.Although the roll extrusion polishing of axletree and strengthening processing have a long history, the Ministry of Railways has been widely used in the surface working of axletree, and current used equipment is all generally engine lathe.This working method exists that labour intensity is large, working (machining) efficiency is low, workpiece exchange cycle is long, in addition owing to needing to carry out manually oil-mist lubrication in the course of processing, also exists the problems such as the feature of environmental protection is poor, fluid utilization ratio is low, contaminate environment.
Summary of the invention
The object of this invention is to provide a kind of Controlling System of the torsion shaft of heavy armored vehicle being carried out to finish rolling hardening, this Controlling System can realize the full automatic control of machine tooling.
Realize technical scheme of the present invention as follows:
The torsion shaft of heavy armored vehicle is carried out to a Controlling System for finish rolling hardening, this system comprises roll extrusion motion control subsystem, milled head hydrostatic control subsystem and measurement and data acquisition process subsystem; Wherein roll extrusion motion control subsystem is connected with data acquisition process subsystem with measurement respectively with milled head hydrostatic control subsystem;
Roll extrusion motion control subsystem is mainly comprised of two photoelectric encoders, motion control unit, Z axis servomotor and spindle servo electric machine; Annexation between above-mentioned each parts is: two photoelectric encoders be each positioned on a servomotor and with servomotor synchronous rotary; Motion control unit is connected respectively with photoelectric encoder, Z axis servomotor and spindle servo electric machine; Described Z axis servomotor is connected with platen, and described spindle servo electric machine is connected with machine tool chief axis;
Photoelectric encoder is for detection of circular frequency and the angle of rotation of coupled servomotor, and detected angle information is transferred to motion control unit;
The angle information that motion control unit transmits according to the photoelectric encoder being connected with Z axis servomotor, controlling Z axis servomotor drives platen to move along Z axis, process the tooth root position that the angle information that the photoelectric encoder being connected with spindle servo electric machine is transmitted and measurement and data acquisition process subsystem transmit, and generates control signal and control the rotation of spindle servo electric machine drive main shaft;
Hydrostatic control subsystem comprises PID control unit, hydraulic power unit, electric flow quantity servo-valve and pressure transmitter; Wherein hydraulic power unit delivery conduit is connected with electric flow quantity servo-valve oil-in, pressure transmitter is positioned at the fuel-displaced pipeline of electric flow quantity servo-valve, and the fuel-displaced pipeline of electric flow quantity servo-valve is connected with the hydro-cylinder of milled head on lathe, PID control unit is connected with the control end of electric flow quantity servo-valve with pressure transmitter respectively;
The force value that PID control unit gathers according to pressure transmitter, adopts pid algorithm to realize the control to electric flow quantity servo valve control end;
Measure with data acquisition subsystem and mainly by laser displacement sensor, photoelectric coding and data processing module, formed; Wherein laser displacement sensor is installed on machine slide case and with lathe slip crate and moves, photoelectric encoder is positioned at lathe headstock and is connected with main shaft tail by synchronous pulley, and data processing module is connected with laser displacement sensor and photoelectric coding respectively;
Laser displacement sensor is for detection of the radius R of torsion shaft, and is transferred to data processing module;
Photoelectric encoder is for detection of the angle of rotation θ of main shaft, and is transferred to data processing module.
Data processing equipment calculates the radius R of the angle of rotation θ receiving and torsion shaft, obtains the tooth root position of torsion shaft, and is transferred to roll extrusion motion control subsystem.
Further, pid algorithm of the present invention is: the force value V(K gathering according to current K sampling instant pressure transmitter), control the oil pressure output(K of electric flow quantity servo-valve oil outlet); Wherein
e（K）=C-V（K）;
Wherein, C is the controlling valu of setting according to the required oil pressure of electric flow quantity servo-valve oil outlet, e(K) is the error amount between K sampling instant server-side output valve and set(ting)value;
Output increment △ output is:
△ output=Kp * (e (K)-e (K-1))+Ki * e (K)+Kd (e(K-2) * e (K-1)+e (K-2)); Wherein, e (K-1) is the error amount of (K-1) individual sampling instant server-side input, is e(K-2) error amount of (K-2) individual sampling instant server-side input, output(K-1) is (K-1) individual sampling instant control unit work output; Kp=100 is server-side integral coefficient, and Ki=50 is server-side scale-up factor, and Kd=700 is server-side differential coefficient, work output output(K) be:
output（K）=output（K-1）+△output。
Further, the concrete grammar that the present invention calculates torsion shaft tooth root position is: choose torsion shaft profile of tooth cross section corresponding a group (θ, R), time maximum and inferior minimum of R in selected (θ, R) is designated as respectively to R
maxand R
min, ascending by pressing θ in selected (θ, R), successively by corresponding R and the R of θ
maxand R
minrelatively, first is dropped on to R
minthe point of ± 0.3mm scope is designated as S, from S, finds first to drop on R
minthe point of ± 0.3mm scope is also designated as A, finds first to exceed R
minthe point of ± 0.3mm scope is designated as B; The coordinate of tooth root position is (θ
c, R
c), θ wherein
c=(θ
a+ θ
b)/2, wherein θ
afor the corresponding angle of A point, θ
bfor the corresponding angle of B point, R
cfor θ
?corresponding distance; Calculate the coordinate (θ of torsion shaft tooth root position
c, R
c).
Further, roll extrusion motion control subsystem of the present invention also comprises Signals Transfer Board, and described Signals Transfer Board is signal input output end mouth on motion control unit.
Further, roll extrusion motion control subsystem of the present invention also comprises two travel switches that are installed on lathe base, and two travel switches lay respectively on the positive and negative both direction of machine tool motion; Described travel switch is for carrying out limit control to the position of lathe, when machine tool motion arrives travel switch present position, travel switch generates and puts signal in place and be transferred to motion control unit, and motion control unit receives while putting signal in place, controls spindle servo electric machine stop motion.
Further, the present invention also comprises PLC control subsystem, for lathe working order is detected and shown.
Further, measurement of the present invention and data acquisition subsystem also comprise magneto strictive sensor, described magneto strictive sensor is arranged in the hydro-cylinder of hydraulic control system milled head, for measuring the physical location of course of processing hydro-cylinder and being transferred to outside, shows.
Further, the present invention also comprises technological data bank, and described technological data bank is used for storing torsion shaft information, and described torsion shaft information comprises lot number, finished size, amount of finish and the processing date of torsion shaft.
Beneficial effect
The first, Controlling System of the present invention comprises roll extrusion motion control subsystem, milled head hydrostatic control subsystem and measurement and data acquisition process subsystem, and then realize processing, measurement, hydraulic efficiency system intelligent control, level of automation is high, and be easy to the expansion of system, realize the intelligent control of torsion shaft, improved the efficiency of rolling and processing.
The second, the present invention adopts pid algorithm to control the hydraulic pressure of the output of milled head hydrostatic control subsystem, thereby can realize constant pressure output, has guaranteed the homogeneity to the roll extrusion of torsion shaft each several part, improves the quality of torsion shaft.
Three, finding tooth root position with existing artificial rotary torsion axle compares, the present invention adopts accurate algorithm to calculate the tooth root position of torsion shaft, motion control unit, according to the rotation of the output control spindle servo electric machine calculating, has well improved the efficiency of processing.
Accompanying drawing explanation
Fig. 1 is knurling machine schematic diagram;
Fig. 2 is operating panel schematic diagram;
Fig. 3 is Controlling System schematic diagram of the present invention;
1-machine tool chief axis 2-processing parts 3-Controlling System 4-laser displacement sensor 5-milled head 6-hydraulic tailstock 7-worktable.
Embodiment
As shown in Figure 1, knurling machine mainly comprises that several parts such as machine tool chief axis 1, Controlling System 3, hydraulic tailstock 6, worktable 7 form.Need rolled torsion shaft 2 to be installed on main shaft 1, operator operates on operating panel as shown in Figure 2.
As shown in Figure 3, the present invention carries out the Controlling System of finish rolling hardening to the torsion shaft of heavy armored vehicle, and this system comprises roll extrusion motion control subsystem, milled head hydrostatic control subsystem and measurement and data acquisition process subsystem; Wherein roll extrusion motion control subsystem is connected with data acquisition process subsystem with measurement respectively with milled head hydrostatic control subsystem.
Roll extrusion motion control subsystem is mainly comprised of two photoelectric encoders, motion control unit, Z axis servomotor and spindle servo electric machine; Annexation between above-mentioned each parts is: two photoelectric encoders be each positioned on a servomotor and with servomotor synchronous rotary; Motion control unit is connected respectively with photoelectric encoder, Z axis servomotor and spindle servo electric machine; Described Z axis servomotor is connected with platen, and described spindle servo electric machine is connected with machine tool chief axis.
Photoelectric encoder is for detection of circular frequency and the angle of rotation of coupled servomotor, and detected angle information is transferred to motion control unit; The angle information that motion control unit transmits according to the photoelectric encoder being connected with Z axis servomotor, controlling Z axis servomotor drives platen to move along Z axis, process the tooth root position that the angle information that the photoelectric encoder being connected with spindle servo electric machine is transmitted and measurement and data acquisition process subsystem transmit, and generates control signal and control the rotation of spindle servo electric machine drive main shaft.
Roll extrusion motion control subsystem of the present invention is the core of the motion control of knurling machine, completes the driving to platen horizontal direction (along Z-direction), and controls main shaft (around C axle) and rotatablely move, and realizes Z, the interpolation of C two-axle interlocking.
Hydrostatic control subsystem comprises PID control unit, hydraulic power unit, electric flow quantity servo-valve and pressure transmitter; Wherein hydraulic power unit delivery conduit is connected with electric flow quantity servo-valve oil-in, pressure transmitter is positioned at the fuel-displaced pipeline of electric flow quantity servo-valve, and the fuel-displaced pipeline of electric flow quantity servo-valve is connected with the hydro-cylinder of milled head on lathe, and the fuel-displaced pipeline of electric flow quantity servo-valve is connected with the hydro-cylinder of milled head on lathe, PID control unit is connected with the control end of electric flow quantity servo-valve with pressure transmitter respectively; The force value that PID control unit gathers according to pressure transmitter, adopts pid algorithm to realize the control to electric flow quantity servo valve control end; By the fuel-displaced pipeline of electric flow quantity servo-valve, to the hydro-cylinder of milled head on lathe, provide hydraulic efficiency oil to realize roll extrusion.
Measure with data acquisition subsystem and mainly by laser displacement sensor, photoelectric coding and data processing module, formed; Wherein laser displacement sensor is installed on machine slide case and with lathe slip crate and moves, photoelectric encoder is positioned at lathe headstock and is connected with main shaft tail by synchronous pulley, and data processing module is connected with laser displacement sensor and photoelectric coding respectively; Laser displacement sensor is for detection of the radius of torsion shaft, and is transferred to data processing module; Photoelectric encoder is for detection of the angle of rotation of main shaft, and is transferred to data processing module; Data processing equipment calculates the radius R of the angle of rotation θ receiving and torsion shaft, obtains the tooth root position of torsion shaft, and is transferred to roll extrusion motion control subsystem.
Reason due to transmission rotation, between spindle servo electric machine and the angle of rotation of main shaft, there is certain error, the high precision photoelectric encoder that setting of the present invention is connected with main shaft, be arranged at the connected photoelectric encoder of spindle motor, the angle of rotation gathering respectively by two encoders, accurately controls the rotation of spindle motor.
In order to guarantee the homogeneity to the roll extrusion of torsion shaft each several part, improve the quality of torsion shaft, the present invention has designed pid algorithm and has realized the control to output hydraulic pressure, pid algorithm of the present invention is: the force value V(K gathering according to current K sampling instant pressure transmitter), control the oil pressure output(K of electric flow quantity servo-valve oil outlet); Wherein
e（K）=C-V（K）;
Wherein, C is the controlling valu of setting according to the required oil pressure of electric flow quantity servo-valve oil outlet, e(K) is the error amount between K sampling instant server-side output valve and set(ting)value;
Output increment △ output is:
△output=Kp×(e(K)-e(K-1))+Ki×e(K)+Kd(e（K-2）×e(K-1)+e(K-2));
Wherein, e (K-1) is the error amount of (K-1) individual sampling instant server-side input, is e(K-2) error amount of (K-2) individual sampling instant server-side input, output(K-1) is (K-1) individual sampling instant control unit work output; Kp=100 is server-side integral coefficient, and Ki=50 is server-side scale-up factor, and Kd=700 is server-side differential coefficient, work output output(K) be:
output（K）=output（K-1）+△output。
In order to obtain accurately the tooth root position of torsion shaft, realizing automatization processes tooth root, the present invention designs a set of use algorithm calculating torsion shaft tooth root position and is specially: choose one group of (θ corresponding to torsion shaft profile of tooth cross section, R), time maximum and inferior minimum of R in selected (θ, R) is designated as respectively to R
maxand R
min, ascending by pressing θ in selected (θ, R), successively by corresponding R and the R of θ
maxand R
minrelatively, first is dropped on to R
minthe point of ± 0.3mm scope is designated as S, from S, finds first to drop on R
minthe point of ± 0.3mm scope is also designated as A, finds first to exceed R
minthe point of ± 0.3mm scope is designated as B; The coordinate of tooth root position is (θ
c, R
c), θ wherein
c=(θ
a+ θ
b)/2, wherein θ
afor the corresponding angle of A point, θ
bfor the corresponding angle of B point, R
cfor θ
ccorresponding distance; Calculate the coordinate (θ of torsion shaft tooth root position
c, R
c).
In order to prevent that outside forceful electric power signal from burning motion control unit; the present invention in roll extrusion motion control subsystem, be also provided with Signals Transfer Board as motion control unit on signal input output end mouth; play the bi-directional effect of signal, also possess photoelectricity insulation blocking effect simultaneously.
In order to prevent that rotatablely moving of lathe from surpassing its limit, the present invention is also provided with travel switch for limit control is carried out in the position of lathe in roll extrusion motion control subsystem, when machine tool motion arrives travel switch present position, travel switch generates and puts signal in place and be transferred to motion control unit.
Because lathe may occur extremely in the process of work, therefore need to tell in real time outside staff by the working order of lathe, so the present invention designed PLC control subsystem, for lathe working order is detected and shown.PLC Controlling System is mainly comprised of CPU, storer, switching value input/output module and analog input/output module; CPU, for the input/output signal of lathe is carried out to logical operation, completes the internal clocking of PLC Controlling System, counting, arithmetical operation, data processing and transmission, communication and various application instruction explanation functions etc.The data of using in CPU computation process need to read from storage, and the result after data analysis processing is stored in storer too, and storer and CPU are two-way data transmission relations.Storer for switch amount input/output module and analog input/output module, transmit numerary signal store, the data after CPU is calculated send switching value input/output module and analog input/output module to.Switching value input/output module is used for the low and high level status signal of lathe to gather, and gathered status signal is changed in digital form write store; Status signal in switching value input/output module read memory, and convert thereof into lathe can recognition mode output; Analog input/output module is used for gathering the continually varying analog signals that lathe working process produces, and converts thereof in digital form write store; Data after being processed by CPU in analog input/output module memory read, and convert thereof into simulating signal for the electric system of lathe.
For staff can see the force value that milled head is exported in real time, the present invention is provided with magneto strictive sensor in the hydro-cylinder of hydraulic control system milled head, this magneto strictive sensor, for measuring the physical location of course of processing hydro-cylinder, is gone out location variation show by RS485 protocol transmission.
Meanwhile, the present invention has also designed technological data bank, and it uses the programming of ACCESS form, has part lot number, part finished size, finished size, amount of finish, processing date and time information.After machining, can be uploaded to remote server by ICP/IP protocol analyzes and preserves at every turn.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. the torsion shaft of heavy armored vehicle is carried out to a Controlling System for finish rolling hardening, it is characterized in that, this system comprises roll extrusion motion control subsystem, milled head hydrostatic control subsystem and measurement and data acquisition process subsystem; Wherein roll extrusion motion control subsystem is connected with data acquisition process subsystem with measurement respectively with milled head hydrostatic control subsystem;
Roll extrusion motion control subsystem is mainly comprised of two photoelectric encoders, motion control unit, Z axis servomotor and spindle servo electric machine; Annexation between above-mentioned each parts is: two photoelectric encoders be each positioned on a servomotor and with servomotor synchronous rotary; Motion control unit is connected respectively with photoelectric encoder, Z axis servomotor and spindle servo electric machine; Described Z axis servomotor is connected with platen, and described spindle servo electric machine is connected with machine tool chief axis;
Photoelectric encoder is for detection of circular frequency and the angle of rotation of coupled servomotor, and detected angle information is transferred to motion control unit;
The angle information that motion control unit transmits according to the photoelectric encoder being connected with Z axis servomotor, controlling Z axis servomotor drives platen to move along Z axis, process the tooth root position that the angle information that the photoelectric encoder being connected with spindle servo electric machine is transmitted and measurement and data acquisition process subsystem transmit, and generates control signal and control the rotation of spindle servo electric machine drive main shaft;
Hydrostatic control subsystem comprises PID control unit, hydraulic power unit, electric flow quantity servo-valve and pressure transmitter; Wherein hydraulic power unit delivery conduit is connected with electric flow quantity servo-valve oil-in, pressure transmitter is positioned at the fuel-displaced pipeline of electric flow quantity servo-valve, and the fuel-displaced pipeline of electric flow quantity servo-valve is connected with the hydro-cylinder of milled head on lathe, PID control unit is connected with the control end of electric flow quantity servo-valve with pressure transmitter respectively;
The force value that PID control unit gathers according to pressure transmitter, adopts pid algorithm to realize the control to electric flow quantity servo valve control end;
Described pid algorithm is: the force value V(K gathering according to current K sampling instant pressure transmitter), control the oil pressure output(K of electric flow quantity servo-valve oil outlet); Wherein
e（K）=C-V（K）;
Wherein, C is the controlling valu of setting according to the required oil pressure of electric flow quantity servo-valve oil outlet, e(K) is the error amount between K sampling instant server-side output valve and set(ting)value;
Output increment △ output is:
△output=Kp×(e(K)-e(K-1))+Ki×e(K)+Kd(e（K-2）×e(K-1)+e(K-2));
Wherein, e (K-1) is the error amount of (K-1) individual sampling instant server-side input, is e(K-2) error amount of (K-2) individual sampling instant server-side input, output(K-1) is (K-1) individual sampling instant control unit work output; Kp=100 is server-side integral coefficient, and Ki=50 is server-side scale-up factor, and Kd=700 is server-side differential coefficient, work output output(K) be:
output（K）=output（K-1）+△output；
Measure with data acquisition subsystem and mainly by laser displacement sensor, photoelectric coding and data processing module, formed; Wherein laser displacement sensor is installed on machine slide case and with lathe slip crate and moves, photoelectric encoder is positioned at lathe headstock and is connected with main shaft tail by synchronous pulley, and data processing module is connected with laser displacement sensor and photoelectric coding respectively;
Laser displacement sensor is for detection of the radius R of torsion shaft, and is transferred to data processing module;
Photoelectric encoder is for detection of the angle of rotation θ of main shaft, and is transferred to data processing module;
Data processing equipment calculates the radius R of the angle of rotation θ receiving and torsion shaft, obtains the tooth root position of torsion shaft, and is transferred to roll extrusion motion control subsystem;
The concrete grammar that calculates torsion shaft tooth root position is: choose torsion shaft profile of tooth cross section corresponding a group (θ, R), time maximum and time minimum of R in selected (θ, R) are designated as respectively to R
maxand R
min, ascending by pressing θ in selected (θ, R), successively by corresponding R and the R of θ
maxand R
minrelatively, first is dropped on to R
minthe point of ± 0.3mm scope is designated as S, from S, finds first to drop on R
minthe point of ± 0.3mm scope is also designated as A, finds first to exceed R
minthe point of ± 0.3mm scope is designated as B; The coordinate of tooth root position is (θ
c, R
c), θ wherein
c=(θ
a+ θ
b)/2, wherein θ
afor the corresponding angle of A point, θ
bfor the corresponding angle of B point, R
cfor θ
ccorresponding distance; Calculate the coordinate (θ of torsion shaft tooth root position
c, R
c).
2. according to claim 1 the torsion shaft of heavy armored vehicle is carried out the Controlling System of finish rolling hardening, it is characterized in that, described roll extrusion motion control subsystem also comprises Signals Transfer Board, and described Signals Transfer Board is signal input output end mouth on motion control unit.
3. according to claim 1 the torsion shaft of heavy armored vehicle is carried out the Controlling System of finish rolling hardening, it is characterized in that, described roll extrusion motion control subsystem also comprises two travel switches that are installed on lathe base, and two travel switches lay respectively on the positive and negative both direction of machine tool motion; Described travel switch is for carrying out limit control to the position of lathe, when machine tool motion arrives travel switch present position, travel switch generates and puts signal in place and be transferred to motion control unit, and motion control unit receives while putting signal in place, controls spindle servo electric machine stop motion.
4. according to claim 1 the torsion shaft of heavy armored vehicle is carried out the Controlling System of finish rolling hardening, it is characterized in that, also comprise PLC control subsystem, for lathe working order is detected and shown.
5. according to claim 1 the torsion shaft of heavy armored vehicle is carried out the Controlling System of finish rolling hardening, it is characterized in that, described measurement and data acquisition subsystem also comprise magneto strictive sensor, described magneto strictive sensor is arranged in the hydro-cylinder of hydraulic control system milled head, for measuring the physical location of course of processing hydro-cylinder and being transferred to outside, shows.
6. according to claim 1 the torsion shaft of heavy armored vehicle is carried out the Controlling System of finish rolling hardening, it is characterized in that, also comprise technological data bank, described technological data bank is used for storing torsion shaft information, and described torsion shaft information comprises lot number, finished size, amount of finish and the processing date of torsion shaft.
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| CN108757593B (en) * | 2018-06-12 | 2020-11-10 | 北京理工大学 | Hydraulic oil supply system of machine tool for rolling and strengthening torsion shaft tooth root |
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Inventor after: Liang Zhiqiang Inventor after: Sun Hongchang Inventor after: Wang Xibin Inventor after: Deng Sanpeng Inventor after: Li Zhongxin Inventor after: Hao Juan Inventor after: Pei Jiajie Inventor after: Meng Jinying Inventor before: Wang Xibin Inventor before: Sun Hongchang Inventor before: Deng Sanpeng Inventor before: Li Zhongxin Inventor before: Hao Juan Inventor before: Pei Jiajie Inventor before: Meng Jinying |
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