CN104765283A - Closed-loop control method and system giving consideration to time and pressure in powder pressing process - Google Patents
Closed-loop control method and system giving consideration to time and pressure in powder pressing process Download PDFInfo
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Abstract
The invention relates to a closed-loop control method and system giving consideration to both time and pressure in the power pressing process. The method comprises the steps that expected pressurizing time, a target pressing force value and a proportion coefficient input by an operator are received; the slope of time to pre-compress oil is calculated; the initial output speed of a pressurizing valve is controlled; the real-time pressing time is detected and compared with the extreme pressing time to obtain an average of pressure; the average of pressure is compared with the target pressing force value; the average of pressure is compared with the initial closed-loop pressing force; the pressure establishing time is calculated; the pressure establishing time is compared with preset standard time to calculate the pressure establishing slope; the growing average pressure value and the practical pressure slope in unit time are calculated; the difference between the practical pressure slope and the pressure establishing slope is calculated; and the second output speed of the pressurizing valve is controlled. Relation between pressure and time is displayed, the control performance of a powder forming machine is improved, and the adaptability of the powder forming machine to powder is improved.
Description
Technical field
The present invention relates to compacting powder molding equipment and manufacture field, particularly a kind of adopt industrial control computer, Programmable Logic Controller to take into account time and pressure in powder pressing process closed loop control method and system.
Background technology
In present stage ceramic powder moulding process, the press device press power size be applied on powder affects the degree of powder bonding, and the too large pressing speed of press power is too fast, cannot ensure that air is escaped completely; Press power is too little, and between powder, bounding force is spent little, and base substrate can not be shaping.
Owing to adopting powder by spraying, the powder particles that the method is formed is hollow ball.Ceramic powder is shaping, exactly these hollow balls is pressed into the base substrate of bonding.In forming process, the air between hollow ball and spheroid needs to get rid of, otherwise these air will hinder powder to bond, and the base substrate suppressed becomes waste product.Therefore in compressing process except having specific deairing step, the process of compacting also needs pressure to set up speed enough slowly, is beneficial to air escape.
During compacting powder, master cylinder pressurization as shown in Figure 1.Whole pressure process t=t1+t2 consuming time.Wherein, precompression fluid t1 consuming time is the necessary stage of hydraulic system pressurization, and hydraulic energy closely afterwards could build-up pressure by the compacting of loose hydraulic medium.T2 is compacting and is vented consuming time, is the process of really suppressing powder and getting rid of air in powder, that is t2 is only and really affects the shaping parameter of powder.Known by Fig. 1, t length consuming time may not mean that build-up pressure speed is slow, is likely t1 length consuming time.
Known by above-mentioned, technique must ensure the relation of adobe powder compression speed and press power in pressing process, ensure quality and the production efficiency of product with this.The relation of powder compression speed and press power is set up speed to embody primarily of the pressure of powder forming.
Current powder forming shows this relation has two kinds of control methods available: one is compress control method, and another kind is duration control method.
As shown in Figure 2, compress control method is that in setting master cylinder, force value is as pressurization termination condition, and in master cylinder, pressure closes pressurizing member after arriving force value, reaches the object stopping pressurization.This control method can ensure that the master cylinder pressure of powder forming accurately reaches the target pressure value of setting, but its shortcoming cannot ensure pressing time to stablize.Namely can ensure that each pressurization reaches the target pressure value of setting all exactly, but the time reached spent by target pressure value is likely different, this will cause powder at every turn different by the speed compressed, thus affects air escape.
Fig. 3 is time open-loop control method.Set a neutralizing target time, close pressurizing valve when the used time of pressurizeing reaches the neutralizing target time, stop master cylinder pressurization.Because aim parameter is timing time, be difficult to the stability and the accuracy that ensure resulting pressure, that is can ensure that the time spent by each pressurization is the same, but master cylinder force value is likely different, this also can cause powder at every turn different by the speed compressed, thus affects the Forming Quality of adobe.
Above-mentioned two kinds of methods, all can only ensure the accuracy of pressure or the speed of pressure foundation, cannot take into account the two.And all can not distinct pressurization composition and ratio consuming time, should not judge that pressure sets up the impact on moulding process.
Summary of the invention
Object of the present invention, overcomes the deficiencies in the prior art exactly, provides closed loop control method and system that in a kind of powder pressing process, time and pressure are taken into account, can solve the problem that the accuracy of target press power and pressing speed are taken into account.
In order to achieve the above object, following technical scheme is adopted:
The closed loop control method that in powder pressing process, time and pressure are taken into account, comprises the following steps:
S10: receive the expectation pressing time of operator's input, press power desired value and scale-up factor;
S11: calculate the slope determining that precompression fluid is consuming time, described slope is press power desired value and the ratio expecting pressing time;
S12: control pressurizing valve and export initial velocity, described initial velocity is the ratio of slope and scale-up factor;
S13: detect real-time press time of pressing process, judges its size with the limit press time, if the real-time press time is greater than the limit press time, pressurizing valve zero output; If the press time is less than or equal to the limit press time in real time, obtain pressure mean values;
S14: the size of comparative pressure mean value and press power desired value, if pressure mean values is more than or equal to press power desired value, pressurizing valve zero output, display precharge time and pressure Time Created; If pressure mean values is less than press power desired value, comparative pressure mean value and closed loop start the size of press power;
S15: start press power when pressure mean values is less than closed loop, pressurizing valve continues to export initial velocity; Press power is started when pressure mean values is more than or equal to closed loop, calculating pressure Time Created, described pressure Time Created is the difference expecting pressing time and precharge time, described closed loop starts the pressure boundary value that press power is precompression fluid and build-up pressure, and the described precharge time reaches the time that closed loop starts spent by press power for master cylinder mean pressure;
S16: the size of comparative pressure Time Created and default standard time, the scope of described standard time is between 100 ~ 1000ms, if pressure is greater than the standard time Time Created, calculating pressure sets up slope, and described pressure sets up the ratio that slope is press power desired value and pressure Time Created;
S17: calculate the average pressure value and actual pressure slope that increase within the unit interval, described actual pressure slope is the ratio of average pressure value and unit interval;
S18: calculating actual pressure slope and pressure set up the slope difference of slope;
S19: control pressurizing valve and export second speed, described second speed is the ratio of slope difference and scale-up factor;
S20: return and perform S13.
Further, described acquisition pressure mean values is specially within the limit press time, obtains the real-time pressure of master cylinder, uses running mean method to calculate and obtains pressure mean values.
Further, the described limit press time is 2 ~ 5 times of powder shaping T.T..
The closed-loop control system that in powder pressing process, time and pressure are taken into account, comprises receiver module, and it is for receiving expectation pressing time, press power desired value and the scale-up factor of operator's input; Slope computing module, it is for calculating the slope determining that precompression fluid is consuming time, and described slope is press power desired value and the ratio expecting pressing time; First control module, it exports initial velocity for controlling pressurizing valve, and described initial velocity is the ratio of slope and scale-up factor; Detect judging treatmenting module, it is for detecting the real-time press time of pressing process, judges its size with the limit press time, if the real-time press time is greater than the limit press time, pressurizing valve zero output; If the press time is less than or equal to the limit press time in real time, obtain pressure mean values; First compares processing module, and it is for the size of comparative pressure mean value and press power desired value, if pressure mean values is more than or equal to press power desired value, and pressurizing valve zero output, display precharge time and pressure Time Created; If pressure mean values is less than press power desired value, comparative pressure mean value and closed loop start the size of press power; Second compares processing module, and it is for being less than press power desired value when pressure mean values, and whether comparative pressure mean value is less than closed loop starts press power, and if so, pressurizing valve continues to export initial velocity; If not, calculating pressure Time Created, described pressure Time Created is the difference expecting pressing time and precharge time, described closed loop starts the pressure boundary value that press power is precompression fluid and build-up pressure, and the described precharge time reaches the time that closed loop starts spent by press power for master cylinder mean pressure; 3rd compares processing module, it is for the comparative pressure Time Created of the size with the standard time of presetting, the scope of described standard time is between 100 ~ 1000ms, if pressure is greater than the standard time Time Created, calculating pressure sets up slope, and described pressure sets up the ratio that slope is press power desired value and pressure Time Created; Computing module, it is for calculating the average pressure value and actual pressure slope that increase within the unit interval, and described actual pressure slope is the ratio of average pressure value and unit interval; Second computing module, it sets up the slope difference of slope for calculating actual pressure slope and pressure; Second control module, it exports second speed for controlling pressurizing valve, and described second speed is the ratio of slope difference and scale-up factor; Loop module, it compares processing module, the 3rd compare the result feedback of processing module, computing module, the second computing module and the second control module to detecting judging treatmenting module for comparing processing module, second by first.
Further, the described limit press time is 2 ~ 5 times of powder shaping T.T..
Compared with prior art, beneficial effect of the present invention is:
The invention solves powder forming when pressing unfired brick, system provides distinct compacting relation to operator, and time and the relation of compacting quality are accomplished optimization.The application of this technology, provides distinct, control method easily by operator, that greatly can improve powder forming can be handling, strengthens powder forming to the adaptability of different powder.
Accompanying drawing explanation
Fig. 1 is existing pressing stage schematic diagram consuming time;
The control schematic diagram of Fig. 2 to be existing with pressure be target;
The control schematic diagram of Fig. 3 to be existing with time be target;
Fig. 4 is the flow chart of steps of the closed loop control method that in the present embodiment powder pressing process, time and pressure are taken into account;
Fig. 5 is the structured flowchart of the closed-loop control system that in powder pressing process, time and pressure are taken into account.
Diagram: 1-receiver module; 2-slope computing module; 3-the first control module; 4-detect judging treatmenting module;
5-the first compares processing module; 6-the second compares processing module; 7-the three compares processing module; 8-computing module;
9-the second computing module; 10-the second control module; 11-loop module.
Embodiment
Describe the present invention in detail below in conjunction with accompanying drawing and specific implementation method, be used for explaining the present invention in exemplary embodiment and description of the present invention, but not as a limitation of the invention.
As shown in Figure 4, the closed loop control method that in the powder pressing process described in the present embodiment, time and pressure are taken into account comprises the following steps:
S10: receive the expectation pressing time of operator's input, press power desired value and scale-up factor.
T. pressing time is expected by device operator input
tartgetwith press power desired value P.
tartget, and Proportional coefficient K.The span of K value has the inherent characteristic of oil cylinder to determine, that is the design of master cylinder is once determine, its inherent characteristic that is determine.And in order to avoid removing zero, Proportional coefficient K is necessary for nonzero value.
S11: calculate the slope determining that precompression fluid is consuming time.
Slope is press power desired value and the ratio expecting pressing time.Press power desired value P.
tartgetdivided by expectation T. pressing time
tartget, result assignment is to slope α.
set.Slope α.
setdetermine the consuming time of precompression fluid.
S12: control pressurizing valve and export initial velocity.
Initial velocity is the ratio of slope and scale-up factor.Control pressurizing valve and export initial velocity V.
basefor slope α.
setdivided by Proportional coefficient K.By V.
baseassignment is to the output order V. of pressurizing valve
output.In this step, by press power desired value P. that operator sets
tartgetwith expectation T. pressing time
tartgetboth ratio, judges the expectation value of operator.Operator reaches elevated pressures as expected in the short time, then ratio is larger.As expected to reach lower pressure for a long time, then ratio is less.Determine the speed of precompression fluid again with this ratio, meet operator's wish.
S13: judge the real-time press time of pressing process and the size of limit press time.
When starting to suppress, calculate real-time press time T.
realif, T. during compacting in real time
realbe more than or equal to limit press time T.
limited, terminate compacting, by output order V.
outputzero setting, and demonstrate real-time press time T.
real.The limit press time is 2 ~ 5 times of times of powder shaping T.T., such as the molding time from powder to base substrate is 10s, then can by limit press time T.
limitedbe set as 3 × 10=30s.With limit time, this step ensures that this method is avoided entering endless loop.
Suppress within the limit press time, controller obtains master cylinder real-time pressure P. by modulus transition element
real, and use disclosed running mean method, obtain pressure mean values P.
realAverage.Running mean is adopted to be that running mean plays filter action in order to prevent to the false pressure peak that the moment impact of pressure sensor component brings in fluid pressure line.
S14: the size of comparative pressure mean value and press power desired value.
Comparative pressure average value P.
realAveragewith press power desired value P.
targetmagnitude relationship, if pressure mean values is more than or equal to press power desired value P.
target, terminate compacting, and by output order V.
outputzero setting, display precharge time and pressure Time Created; If pressure mean values is less than press power desired value, perform step S15.
S15: comparative pressure mean value and closed loop start the size of press power.
At pressure mean values P.
realAveragedo not reach press power desired value P.
targetbefore, comparative pressure average value P.
realAveragepress power P. is started with closed loop
closeLoopStartrelation.Closed loop starts press power P.
closeLoopStartfor the pressure boundary of precompression fluid and build-up pressure is worth, start press power P. when master cylinder pressure equals closed loop
closeLoopStarttime, think that precompression fluid link terminates.If pressure mean values P.
realAveragebe less than closed loop and start press power P.
closeLoopStart, continue to use V.
baseinstruction is suppressed.Press power P. is started herein by closed loop
closeLoopStart, clearly can judge the link compressing fluid and real build-up pressure.
If pressure mean values P.
realAveragebe more than or equal to closed loop and start press power P.
closeLoopStart, then pressure versus time closed loop link is entered.Calculate pressure T. Time Created
build, it is by expecting T. pressing time
tartgetwith precharge time T.
prePressdifference determine.Precharge time T.
prePressfor master cylinder mean pressure P.
realAveragereach closed loop and start press power P.
closeLoopStartthe spent time.The precharge time T. of this step
prePressquantitative basis is provided for follow-up operating personnel assess pressing speed.And provide time parameter for follow-up time m-pressure closed loop link.
S16: the size of comparative pressure Time Created and default standard time.
For avoiding pressure T. Time Created
buildclose to 0, as 2ms, such pressure T. Time Created
builddo not possess any engineering significance.For example require that master cylinder sets up 1000bar pressure in 2ms, this is not obviously inconsistent with machinery and hydraulic characteristic, so standard time A value in place is determined, as 100 ~ 1000ms for the minimum time set up needed for a certain pressure.With standard time A for judgment criteria, if pressure T. Time Created
buildbe less than or equal to standard time A, then with V.
basefor the output order of pressurizing valve, wait for master cylinder pressure mean values P.
realAveragebe more than or equal to press power desired value P.
tartgetoccur, then terminate pressurization, by output order V.
outputzero setting, and expectation T. pressing time reminding operator to input on human-computer interaction interface
tartgettoo short.This step judges pressure T. Time Created comparatively intelligently
buildrationality, ensure that once there is pressure T. Time Created without engineering significance
buildduring appearance, this method is abandoned expecting T. pressing time
tartgetrequirement, ensures press power desired value P.
targetaccuracy.
If pressure T. Time Created
buildbe greater than standard time A, then calculate pressure and set up slope α.
build.It is by press power desired value P.
targetwith pressure T. Time Created
buildratio determine.By P.
targetdivided by T.
build, assignment is to α.
build.The object of this step is according to remaining time T.
builddetermine the acceleration slope α of build-up pressure.
build.
S17: calculate the average pressure value and actual pressure slope that increase within the unit interval.
The average pressure value increased in unit interval can by the reading of pressure transducer, and binding time calculates, actual pressure slope α.
realfor average pressure value △ P.
realAveragewith the ratio of unit interval △ T, i.e. α.
real=△ P.
realAverage/ △ T.
S18: calculating actual pressure slope and pressure set up the slope difference of slope.
Actual pressure slope α.
realslope α is set up with expectation.
builddifference be slope difference △ α, i.e. △ α=α.
real-α.
build.
S19: control pressurizing valve and export second speed.
Second speed V.
output=△ α/K.
S20: return and perform S13.
According to the data that step S13-S19 obtains, be back to step S13, circulation performs step S13-S19.Pressurization is until master cylinder pressure mean values P.
realAveragebe more than or equal to press power desired value P.
tartget.And by T. consuming time for reality
prePresswith T.
build.P method during this step adopts PID to control, ensure that pressing process takes into account T.
buildand P.
targetaccuracy.Thus final guarantee takes into account T.
targetand P.
targetaccuracy.
As shown in Figure 5, the closed-loop control system that in its a kind of powder pressing process, time and pressure are taken into account, comprising:
Receiver module 1, the expectation pressing time that its reception operator inputs, press power desired value and scale-up factor;
Slope computing module 2, it calculates the slope determining that precompression fluid is consuming time, and described slope is press power desired value and the ratio expecting pressing time;
First control module 3, it controls pressurizing valve and exports initial velocity, and described initial velocity is the ratio of slope and scale-up factor;
Detect judging treatmenting module 4, it detects real-time press time of pressing process, judges its size with the limit press time, if the real-time press time is greater than the limit press time, pressurizing valve zero output; If in real time the press time is less than or equal to the limit press time, obtain pressure mean values, the described limit press time is 2 ~ 5 times of powder shaping T.T.;
First compares processing module 5, the size of its comparative pressure mean value and press power desired value, if pressure mean values is more than or equal to press power desired value, and pressurizing valve zero output, display precharge time and pressure Time Created; If pressure mean values is less than press power desired value, comparative pressure mean value and closed loop start the size of press power;
Second compares processing module 6, and when pressure mean values is less than press power desired value, whether comparative pressure mean value is less than closed loop starts press power, and if so, pressurizing valve continues to export initial velocity; If not, calculating pressure Time Created, described pressure Time Created is the difference expecting pressing time and precharge time, described closed loop starts the pressure boundary value that press power is precompression fluid and build-up pressure, and the described precharge time reaches the time that closed loop starts spent by press power for master cylinder mean pressure;
3rd compares processing module 7, the size of its comparative pressure Time Created and default standard time, the scope of described standard time is between 100 ~ 1000ms, if pressure is greater than the standard time Time Created, calculating pressure sets up slope, and described pressure sets up the ratio that slope is press power desired value and pressure Time Created;
Computing module 8, it calculates the average pressure value and actual pressure slope that increase within the unit interval, and described actual pressure slope is the ratio of average pressure value and unit interval;
Second computing module 9, it sets up the slope difference of slope for calculating actual pressure slope and pressure;
Second control module 10, it exports second speed for controlling pressurizing valve, and described second speed is the ratio of slope difference and scale-up factor;
Loop module 11, it compares processing module, the 3rd compare the result feedback of processing module, computing module, the second computing module and the second control module to detecting judging treatmenting module for comparing processing module, second by first.
For system disclosed in embodiment, because it is corresponding with method disclosed in embodiment, the connection work relationship between modules please refer to embodiment of the method.
Above the technical scheme that the embodiment of the present invention provides is described in detail, apply specific case herein to set forth the principle of the embodiment of the present invention and embodiment, the explanation of above embodiment is only applicable to the principle helping to understand the embodiment of the present invention; Meanwhile, for one of ordinary skill in the art, according to the embodiment of the present invention, embodiment and range of application all will change, and in sum, this description should not be construed as limitation of the present invention.
Claims (5)
1. the closed loop control method that in powder pressing process, time and pressure are taken into account, is characterized in that, comprise and perform following steps successively:
S10: receive the expectation pressing time of operator's input, press power desired value and scale-up factor;
S11: calculate the slope determining that precompression fluid is consuming time, described slope is press power desired value and the ratio expecting pressing time;
S12: control pressurizing valve and export initial velocity, described initial velocity is the ratio of slope and scale-up factor;
S13: detect real-time press time of pressing process, judges its size with the limit press time, if the real-time press time is greater than the limit press time, pressurizing valve zero output; If the press time is less than or equal to the limit press time in real time, obtain pressure mean values;
S14: the size of comparative pressure mean value and press power desired value, if pressure mean values is more than or equal to press power desired value, pressurizing valve zero output, display precharge time and pressure Time Created; If pressure mean values is less than press power desired value, comparative pressure mean value and closed loop start the size of press power;
S15: start press power when pressure mean values is less than closed loop, pressurizing valve continues to export initial velocity; Press power is started when pressure mean values is more than or equal to closed loop, calculating pressure Time Created, described pressure Time Created is the difference expecting pressing time and precharge time, described closed loop starts the pressure boundary value that press power is precompression fluid and build-up pressure, and the described precharge time reaches the time that closed loop starts spent by press power for master cylinder mean pressure;
S16: the size of comparative pressure Time Created and default standard time, the scope of described standard time is between 100 ~ 1000ms, if pressure is greater than the standard time Time Created, calculating pressure sets up slope, and described pressure sets up the ratio that slope is press power desired value and pressure Time Created;
S17: calculate the average pressure value and actual pressure slope that increase within the unit interval, described actual pressure slope is the ratio of average pressure value and unit interval;
S18: calculating actual pressure slope and pressure set up the slope difference of slope;
S19: control pressurizing valve and export second speed, described second speed is the ratio of slope difference and scale-up factor;
S20: return and perform S13.
2. the closed loop control method that in powder pressing process according to claim 1, time and pressure are taken into account, it is characterized in that, described acquisition pressure mean values is specially within the limit press time, obtains the real-time pressure of master cylinder, uses running mean method to calculate and obtains pressure mean values.
3. the closed loop control method that in powder pressing process according to claim 1, time and pressure are taken into account, is characterized in that, the described limit press time is 2 ~ 5 times of powder shaping T.T..
4. the closed-loop control system that in powder pressing process, time and pressure are taken into account, is characterized in that, comprising:
Receiver module, it is for receiving expectation pressing time, press power desired value and the scale-up factor of operator's input;
Slope computing module, it is for calculating the slope determining that precompression fluid is consuming time, and described slope is press power desired value and the ratio expecting pressing time;
First control module, it exports initial velocity for controlling pressurizing valve, and described initial velocity is the ratio of slope and scale-up factor;
Detect judging treatmenting module, it is for detecting the real-time press time of pressing process, judges its size with the limit press time, if the real-time press time is greater than the limit press time, pressurizing valve zero output; If the press time is less than or equal to the limit press time in real time, obtain pressure mean values;
First compares processing module, and it is for the size of comparative pressure mean value and press power desired value, if pressure mean values is more than or equal to press power desired value, and pressurizing valve zero output, display precharge time and pressure Time Created; If pressure mean values is less than press power desired value, comparative pressure mean value and closed loop start the size of press power;
Second compares processing module, and it is for being less than press power desired value when pressure mean values, and whether comparative pressure mean value is less than closed loop starts press power, and if so, pressurizing valve continues to export initial velocity; If not, calculating pressure Time Created, described pressure Time Created is the difference expecting pressing time and precharge time, described closed loop starts the pressure boundary value that press power is precompression fluid and build-up pressure, and the described precharge time reaches the time that closed loop starts spent by press power for master cylinder mean pressure;
3rd compares processing module, it is for the comparative pressure Time Created of the size with the standard time of presetting, the scope of described standard time is between 100 ~ 1000ms, if pressure is greater than the standard time Time Created, calculating pressure sets up slope, and described pressure sets up the ratio that slope is press power desired value and pressure Time Created;
Computing module, it is for calculating the average pressure value and actual pressure slope that increase within the unit interval, and described actual pressure slope is the ratio of average pressure value and unit interval;
Second computing module, it sets up the slope difference of slope for calculating actual pressure slope and pressure;
Second control module, it exports second speed for controlling pressurizing valve, and described second speed is the ratio of slope difference and scale-up factor;
Loop module, it compares processing module, the 3rd compare the result feedback of processing module, computing module, the second computing module and the second control module to detecting judging treatmenting module for comparing processing module, second by first.
5. the closed-loop control system that in powder pressing process according to claim 4, time and pressure are taken into account, is characterized in that, the described limit press time is 2 ~ 5 times of powder shaping T.T..
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| CN106584644A (en) * | 2016-12-09 | 2017-04-26 | 佛山市恒力泰机械有限公司 | Control method for preventing die from being damaged during pressing of automatic hydraulic machine |
| CN109264976A (en) * | 2018-10-25 | 2019-01-25 | 东旭科技集团有限公司 | Control method and device for forming area of hot bending equipment |
| CN112648245A (en) * | 2020-12-22 | 2021-04-13 | 苏州铁马自动化科技有限公司 | Electro-hydraulic servo equipment for tablet press |
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| CN106584644A (en) * | 2016-12-09 | 2017-04-26 | 佛山市恒力泰机械有限公司 | Control method for preventing die from being damaged during pressing of automatic hydraulic machine |
| CN106584644B (en) * | 2016-12-09 | 2019-04-19 | 佛山市恒力泰机械有限公司 | A kind of control method of burn failure when preventing automatic hydraulic press from suppressing |
| CN109264976A (en) * | 2018-10-25 | 2019-01-25 | 东旭科技集团有限公司 | Control method and device for forming area of hot bending equipment |
| CN112648245A (en) * | 2020-12-22 | 2021-04-13 | 苏州铁马自动化科技有限公司 | Electro-hydraulic servo equipment for tablet press |
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