CN103399494B - Large-tonnage fully automatic hydraulic essence impact machine fuzzy constant speed stroke control method - Google Patents
Large-tonnage fully automatic hydraulic essence impact machine fuzzy constant speed stroke control method Download PDFInfo
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Abstract
The present invention relates to large-tonnage fully automatic hydraulic essence impact machine fuzzy constant speed stroke control method, by Fuzzy Predictor, controller and smart impact machine formation feedback control system in sequential series to smart impact machine constant speed Stroke Control; Described controller is made up of a mutual PID controller and a fuzzy controller arranged side by side, PID controller and fuzzy controller according to controller alternative condition alternative form major loop with Fuzzy Predictor and smart impact machine, in the time that controller is chosen as PID controller, described feedback control system forms fuzzy Prediction PID control system, in the time that controller is chosen as fuzzy controller, described feedback control system forms fuzzy Prediction Fuzzy control system. Accurately locate for the repetition that realizes smart impact machine slide block, ensure top dead-centre positioning precision, eliminate workpiece burr simultaneously, reduce in addition stamping-out noise, lathe bed vibration is little, extends die life.
Description
Technical field
The invention belongs to smart impact machine control technology field, be specifically related to large-tonnage fully automatic hydraulic essence impact machine fuzzy and determineSpeed stroke control method.
Background technology
The essence technology of rushing be a kind of hybrid-type, in conjunction with the advanced metal forming technology of punching press and cold extrusion method, can be oncePunch forming obtains high-quality part. The essence of processing identical irregular part is rushed moulding process compared with traditional cutting working method,Fine blanking technology can directly go out size with metallic plate punching and morpheme error is minimum, precision is high, shear surface is bright and clean, high conformityProduct, and 30-50%, production efficiency are saved in material consumption, and can to improve 5-20 doubly even higher. Along with being suitable in recent years essence punchingThe constantly successfully exploitation of sheet metal, the kind of smart stamping is more and more, material thickness is increasing, large scale, Thick Plate FineThe huge increasing of demand of stamping to the performance of smart impact machine particularly control system have higher requirement.
The smart impact machine of tradition equipment adopts PLC to realize simple constant speed Stroke Control, by sunykatuib analysis, this system applies inLarge-tonnage essence impact machine may cause:
1. blanking pressure, pressure-pad-force and counter-pressure cannot accurately be controlled in real time;
2. top dead-centre positioning precision can not ensure, ram travel-time graph is simple 3 segmentation curve (see figure 1)s;
3. lathe bed vibration in rate conversion point place is large.
Summary of the invention
Adopt PLC to realize simple constant speed Stroke Control for the smart impact machine equipment of tradition and have blanking pressure, pressure-pad-force and anti-Pressure cannot accurately be controlled in real time, and top dead-centre positioning precision can not ensure, rate conversion point place lathe bed vibrates large technical problem,The object of the present invention is to provide a kind of large-tonnage fully automatic hydraulic essence impact machine fuzzy constant speed stroke control method, for realityThe repetition of existing slide block is accurately located, and ensures top dead-centre positioning precision, eliminates workpiece burr simultaneously, reduces in addition stamping-out noise, bedBody vibration is little, extends die life.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of large-tonnage fully automatic hydraulic essence impact machine fuzzy constant speed stroke control method, is characterized in that: by fuzzyPrediction device, controller and smart impact machine formation feedback control system in sequential series is to smart impact machine constant speed Stroke Control; Described controllerBe made up of a mutual PID controller and a fuzzy controller arranged side by side, PID controller and fuzzy controller are according to controllerAlternative condition alternative ground forms major loop with Fuzzy Predictor and smart impact machine, in the time that controller is chosen as PID controller, described inFeedback control system forms fuzzy Prediction PID control system, and in the time that controller is chosen as fuzzy controller, described FEEDBACK CONTROL isSystem forms fuzzy Prediction Fuzzy control system; The fuzzy control rule of described Fuzzy Predictor is set to according to Fuzzy PredictorInput ymOutput y with smart impact machinepValue of feedback is determined the output y ' of Fuzzy Predictorm。
By technique scheme, the input y of Fuzzy PredictormBe the selection parameter e of described controller0, smart impact machine defeatedGo out ypValue of feedback is the deviate e of controller.
By technique scheme, described control method specifically comprises the steps:
(1) the selection parameter e of controller is set0, fuzzy controller feedforward gain parameter K1Parameter with PID controllerKp, the deviate e of tectonic system, under the cycle changes, function e (k)=y of deviate em(k)-yp(k), wherein k is periodicity; MouldStick with paste the output y ' of prediction devicemInput u with smart impact machine:
(2) controller alternative condition is: │ e │ < │ e0When │, select PID controller, otherwise select fuzzy controller;
(3), while selecting PID controller, whole system is fuzzy Prediction PID control system, △ e (k)=e (k)-e (k-1), μ(k)=F[e(k),△e(k)]，y′m(k)=ym(k)+μ (k); Wherein F is fuzzy Prediction Control device, and μ is predictive compensation item; CorrespondingGround, e'(k)=y'm(k)-yp(k)，△e′(k)=e′(k)-e′(k-1)，u(k)=u(k-1)+Kp△e′(k)+KIe′(k)+KD[△e′(k)-△e′(k-1)]；
(4), while selecting fuzzy controller, whole system is fuzzy Prediction Fuzzy control system, y'm(k)=ym(k)+μ(k)，e'(k)=e(k)+μ(k)；e(k)=ym(k)-yp(k)，△e(k)=e(k)-e(k-1)，μ(k)=G[e(k),△e(k)]，y′m(k)=ym(k)+μ(k)，e'(k)=y′m(k)-yp(k)，△e'(k)=e'(k)-e'(k-1)，u(k)=K1y′m(k)+F1[e'(k),△E'(k)]; Wherein G is Fuzzy Predictor, and F1 is fuzzy controller.
By technique scheme, large-tonnage fully automatic hydraulic essence impact machine constant speed parameter and travel parameters are entered as input uThe control of row system.
Compared to existing technology, it is fast that the present invention has dynamic response, the advantage that overshoot is little, steady-state error is little. By fuzzyPID constant speed stroke control method is applied to the punching of large-tonnage fully automatic hydraulic essence can reach following effect:
1. the resetting of slide block is accurate, realizes the accurate control at any time of slider displacement curve;
2. ensure top dead-centre positioning precision, ram travel-time graph becomes three rank full curves by time match interpolation, realNow default speed change/variable load process curve;
3. eliminate workpiece burr;
4. reduce stamping-out noise, lathe bed vibration is little, extends die life.
Brief description of the drawings
Fig. 1 is that traditional essence of the prior art is rushed stroke curve;
Fig. 2 is for according to large-tonnage fully automatic hydraulic of the invention process essence impact machine fuzzy constant speed stroke control method instituteThe control system structured flowchart adopting;
Fig. 3 is control system theory diagram of the present invention;
Fig. 4 is fuzzy Prediction PID control system schematic diagram of the present invention;
Fig. 5 is fuzzy Prediction Basic Principle of Fuzzy Control System figure of the present invention;
Fig. 6 is speed change/variable load process curve of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is further described.
Large-tonnage fully automatic hydraulic essence impact machine fuzzy constant speed stroke control method of the present invention as shown in Figure 2-5; Pass throughFuzzy Predictor, controller and smart impact machine (in Fig. 2-6 all referred to as PHS or PHS system) formation FEEDBACK CONTROL in sequential series systemSystem is to smart impact machine constant speed Stroke Control; Described controller is by a mutual PID controller and a fuzzy controller structure arranged side by sideBecome, PID controller and fuzzy controller according to controller alternative condition alternative form main with Fuzzy Predictor and smart impact machineLoop, in the time that controller is chosen as PID controller, described feedback control system forms fuzzy Prediction PID control system, works as controlWhen device is chosen as fuzzy controller, described feedback control system forms fuzzy Prediction Fuzzy control system; Described Fuzzy PredictorFuzzy control rule be set to the input y according to Fuzzy PredictormOutput y with smart impact machinepValue of feedback is determined Fuzzy PredictorOutput y 'm。
By technique scheme, the input y of Fuzzy PredictormBe the selection parameter e of described controller0, smart impact machine defeatedGo out ypValue of feedback is the deviate e of controller.
By technique scheme, described control method specifically comprises the steps:
(1) the selection parameter e of controller is set0, fuzzy controller feedforward gain parameter K1Parameter with PID controllerKp, the deviate e of tectonic system, under the cycle changes, function e (k)=y of deviate em(k)-yp(k), wherein k is periodicity; MouldStick with paste the output y ' of prediction devicemInput u with smart impact machine:
(2) controller alternative condition is: │ e │ < │ e0When │, select PID controller, otherwise select fuzzy controller;
(3), while selecting PID controller, whole system is fuzzy Prediction PID control system, △ e (k)=e (k)-e (k-1), μ(k)=F[e(k),△e(k)]，y′m(k)=ym(k)+μ (k); Wherein F is fuzzy Prediction Control device, and fuzzy logic ordination is in table 1, μFor predictive compensation item;
Correspondingly, e'(k)=y'm(k)-yp(k)，△e′(k)=e′(k)-e′(k-1)，u(k)=u(k-1)+Kp△e′(k)+KIe′(k)+KD[△e′(k)-△e′(k-1)]；
Table 1 Fuzzy Predictor fuzzy logic ordination
Wherein, NB, NM, NS, ZO, PS, PM, PB is the mark of fuzzy Prediction Control device set of fuzzy logic rules, its meaningJustice is as follows:
The deviation that NB=negative direction is large; Deviation in NM=negative direction; The deviation that NS=negative direction is little; ZO=be bordering on zero partiallyPoor; The deviation that PS=positive direction is little; Deviation in PM=positive direction; The deviation that PB=positive direction is large.
(4), while selecting fuzzy controller, whole system is fuzzy Prediction Fuzzy control system, y'm(k)=ym(k)+μ(k)，e'(k)=e(k)+μ(k)；e(k)=ym(k)-yp(k)，△e(k)=e(k)-e(k-1)，μ(k)=G[e(k),△e(k)]，y′m(k)=ym(k)+μ(k)，e'(k)=y′m(k)-yp(k)，△e'(k)=e'(k)-e'(k-1)，u(k)=K1y′m(k)+F1[e'(k),△E'(k)]; Wherein G is Fuzzy Predictor (operation rule is respectively in table 1), and F1 is that (operation rule is respectively in Table for fuzzy controller2）。
Table 2 fuzzy controller fuzzy logic ordination
Wherein, NB, NM, NS, ZO, PS, PM, PB is the mark of fuzzy Prediction Control device set of fuzzy logic rules, its meaningJustice is as follows:
The deviation that NB=negative direction is large; Deviation in NM=negative direction; The deviation that NS=negative direction is little; ZO=be bordering on zero partiallyPoor; The deviation that PS=positive direction is little; Deviation in PM=positive direction; The deviation that PB=positive direction is large.
Compared to existing technology, it is fast that the present invention has dynamic response, the advantage that overshoot is little, steady-state error is little. By fuzzyPID constant speed stroke control method is applied to the punching of large-tonnage fully automatic hydraulic essence can reach following effect:
1. the resetting of slide block is accurate, realizes the accurate control at any time of slider displacement curve;
2. ensure top dead-centre positioning precision, ram travel-time graph becomes three rank full curves by time match interpolation, realNow default speed change/variable load process curve (seeing Fig. 6);
3. eliminate workpiece burr;
4. reduce stamping-out noise, lathe bed vibration is little, extends die life.
Thus, large-tonnage fully automatic hydraulic essence impact machine of the present invention passes through the application of fuzzy constant speed stroke control method,Realize large scale, the continuous composite molding technique of cut deal, form to material flow, work hardening, stress state, fretting wear etc.The Beneficial Effect of aspect, solves large scale, cut deal Problems in forming effectively, boosts productivity, reduces labour intensity, reduces to make an uproarSound pollutes, and has correspondingly saved a large amount of energy and resource, meets the requirement of national energy-saving, environmental protection, promotes industry energy-saving consumption reduction,The green manufacturing industrial chain upgrading of catalysis China.
Claims (1)
1. a large-tonnage fully automatic hydraulic essence impact machine fuzzy constant speed stroke control method, is characterized in that: by fuzzy pre-Estimate device, controller and smart impact machine formation feedback control system in sequential series to smart impact machine constant speed Stroke Control; Described controller byA PID controller and a fuzzy controller arranged side by side forms mutually, and PID controller and fuzzy controller select according to controllerSelect condition alternative and form major loop with Fuzzy Predictor and smart impact machine, in the time that controller is chosen as PID controller, described anti-Feedback control system forms fuzzy Prediction PID control system, in the time that controller is chosen as fuzzy controller, and described feedback control systemForm fuzzy Prediction Fuzzy control system; The fuzzy control rule of described Fuzzy Predictor is set to defeated according to Fuzzy PredictorEnter ymOutput y with smart impact machinepValue of feedback is determined the output y ' of Fuzzy Predictorm; The input y of Fuzzy PredictormBe described controlThe selection parameter e of device processed0, the output y of smart impact machinepValue of feedback is the deviate e of controller; Described control method is specifically wrappedDraw together following steps:
(1) the selection parameter e of controller is set0, fuzzy controller feedforward gain parameter KIParameter K with PID controllerP, structureThe deviate e of manufacturing system, the function that the cycle changes lower deviation value e is e (k), wherein k is periodicity; The output of Fuzzy Predictory′mInput u with smart impact machine:
(2) controller alternative condition is: │ e │ < │ e0When │, select PID controller, otherwise select fuzzy controller;
(3), while selecting PID controller, described feedback control system forms fuzzy Prediction PID control system, △ e (k)=e (k)-e(k-1)，μ(k)＝F[e(k),△e(k)]，y′m(k)＝ym(k)+μ (k); Wherein F is fuzzy Prediction Control device, and μ is for estimating benefitRepay item; Correspondingly, e'(k)=y'm(k)-yp(k)，△e′(k)＝e′(k)-e′(k-1)，u(k)＝u(k-1)+Kp△e′(k)+KIe′(k)+KD[△ e ' (k)-△ e ' (k-1)]; Wherein, KI、KDBe respectively integral parameter and differential parameter;
(4), while selecting fuzzy controller, described feedback control system forms fuzzy Prediction Fuzzy control system, e'(k)=e (k)+μ(k)；e(k)＝ym(k)-yp(k)，μ(k)＝G[e(k),△e(k)]，u(k)＝K1y′m(k)+F1[e'(k),△e'(k)]；Wherein G is Fuzzy Predictor, and F1 is fuzzy controller;
Large-tonnage fully automatic hydraulic essence impact machine constant speed parameter and travel parameters are carried out to system control as the input u of smart impact machine.
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Denomination of invention: Fuzzy PID constant speed stroke control method for large tonnage full-automatic hydraulic fine blanking machine Effective date of registration: 20220629 Granted publication date: 20160504 Pledgee: Bank of China Limited Wuhan Qingshan sub branch Pledgor: WUHAN HUAXIA FINE-BLANKING TECHNOLOGY CO.,LTD. Registration number: Y2022420000207 |
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