CN104765283B - The time is taken into account with pressure during powder pressing closed loop control method and system - Google Patents
The time is taken into account with pressure during powder pressing closed loop control method and system Download PDFInfo
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Abstract
The closed loop control method and system taken into account the present invention relates to time during a kind of powder pressing and pressure, this method comprise the following steps：Receive expectation pressing time, press power desired value and the proportionality coefficient of operator's input；Calculate the slope for determining that precommpression fluid is time-consuming；Control pressurizing valve output initial velocity；The real-time press time is detected, its size with the limit press time is judged, pressure mean values are obtained；Compare the size of pressure mean values and press power desired value；Compare pressure mean values and start the size of press power with closed loop；Calculate pressure setup time；Compare the size of pressure setup time and default standard time, calculate pressure and set up slope；Calculate the average pressure value increased within the unit interval and actual pressure slope；Calculate the slope difference that actual pressure slope sets up slope with pressure；Control pressurizing valve output second speed.
Description
Technical field
The present invention relates to compacting powder molding equipment manufacture field, it is more particularly to a kind of using industrial control computer, can
Closed loop control method and system that programmable controller is taken into account to time during powder pressing and pressure.
Background technology
At this stage in ceramic powder moulding process, press device is applied to the press power size influence powder bonding on powder
Degree, press power is too big and pressing speed is too fast, can not ensure that air is escaped completely；Bonded between the too small then powder of press power
Dynamics is too small, and base substrate can not be molded.
Due to using powder by spraying, the powder particles of this method formation are hollow balls.Ceramic powder is molded, and is exactly by this
A little hollow balls are pressed into the base substrate of bonding.In forming process, the air between hollow ball and spheroid needs to exclude, otherwise
These air would interfere with powder bonding, and the base substrate suppressed turns into waste product.Therefore except there is specific row during compressing
Outside gas process, the process of compacting also needs to pressure, and to set up speed slow enough, in favor of air escape.
When suppressing powder, master cylinder pressurization is as shown in Figure 1.Whole pressure process takes t=t1+t2.Wherein,
Precommpression fluid takes necessary the stage that t1 is hydraulic system pressurization, hydraulic energy by loose hydraulic medium suppress it is close afterwards
Pressure can be set up.T2 is that compacting and exhaust are time-consuming, is really to suppress powder and exclude the process of air in powder, that is, t2 is only
The parameter of real influence powder shaping.Known by Fig. 1, time-consuming may not mean that to set up pressure x velocity slow by t, it may be possible to which t1 takes
It is long.
Known by above-mentioned, the relation of adobe powder compression speed and press power in pressing process is must assure that in technique, with
This ensures the quality and production efficiency of product.The relation of powder compression speed and press power is mainly built by the pressure of powder forming
Vertical speed embodies.
Current powder forming shows that the relation has two kinds of control methods available：One kind is compress control method, separately
One kind is duration control method.
As shown in Fig. 2 compress control method be setting one master cylinder in pressure value as pressurization termination condition, master cylinder
Interior pressure closes pressurizing member after reaching pressure value, reaches the purpose for stopping pressurization.This control method can ensure that powder is molded
The master cylinder pressure of machine accurately reaches the target pressure value of setting, but it has the disadvantage that pressing time can not ensure stabilization.
To ensure that pressurization every time all accurately achieves the target pressure value of setting, but reach that the time spent by target pressure value has can
Can be different, it is different that this may result in the speed that powder compressed every time, so as to influence air escape.
Fig. 3 is time open-loop control method.A neutralizing target time is set, the neutralizing target time is reached when the pressurization used time
When close pressurizing valve, stop master cylinder pressurization.Because aim parameter is timing time, it is difficult to ensure the stability and standard of final pressure
True property, that is, can ensure that the spent time of pressurization every time is the same, but master cylinder pressure value is possible to different, and this also can
The speed for causing powder to be compressed every time is different, so as to influence the Forming Quality of adobe.
Above two method, can only ensure the speed that the accuracy or pressure of pressure are set up, it is impossible to take into account the two.And
Apparent can not pressurize time-consuming composition and ratio, should not judge that pressure sets up the influence to moulding process.
The content of the invention
The purpose of the present invention, exactly overcoming the deficiencies in the prior art, there is provided time and pressure during a kind of powder pressing
The closed loop control method and system taken into account, the problem of accuracy and pressing speed that can solve target press power are taken into account.
In order to achieve the above object, adopt the following technical scheme that：
The closed loop control method that the time is taken into account with pressure during a kind of powder pressing, comprises the following steps：
S10：Receive expectation pressing time, press power desired value and the proportionality coefficient of operator's input；
S11：The slope for determining that precommpression fluid is time-consuming is calculated, the slope is press power desired value with expecting pressing time
Ratio；
S12：Pressurizing valve output initial velocity is controlled, the initial velocity is the ratio of slope and proportionality coefficient；
S13：The real-time press time of pressing process is detected, its size with the limit press time is judged, if compacting in real time
Time is more than limit press time, pressurizing valve zero output；If the real-time press time is less than or equal to the limit press time, pressure is obtained
Power average value；
S14：Compare the size of pressure mean values and press power desired value, if pressure mean values are more than or equal to press power mesh
Scale value, pressurizing valve zero output, display precharge time and pressure setup time；If pressure mean values are less than press power desired value,
Compare pressure mean values and start the size of press power with closed loop；
S15：When pressure mean values less than closed loop start press power, pressurizing valve continues to output initial velocity；When pressure is average
Value starts press power more than or equal to closed loop, calculates pressure setup time, the pressure setup time for expect pressing time with
The difference of precharge time, it is precommpression fluid and the pressure side dividing value for setting up pressure, the pre-add that the closed loop, which starts press power,
The pressure time is that master cylinder average pressure reaches that closed loop starts the time spent by press power；
S16：Compare the size of pressure setup time and default standard time, the scope of the standard time 100~
Between 1000ms, if pressure setup time is more than the standard time, calculates pressure and set up slope, it is compacting that the pressure, which sets up slope,
The ratio of power desired value and pressure setup time；
S17：The average pressure value increased within the unit interval and actual pressure slope are calculated, the actual pressure slope is
Average pressure value and the ratio of unit interval；
S18：Calculate the slope difference that actual pressure slope sets up slope with pressure；
S19：Pressurizing valve output second speed is controlled, the second speed is slope difference and the ratio of proportionality coefficient；
S20：Return and perform S13.
Further, the acquisition pressure mean values are specially within the limit press time, to obtain the real-time of master cylinder
Pressure, is calculated using moving average method and obtains pressure mean values.
Further, the limit press time is that powder is molded 2~5 times of total time.
The closed-loop control system that the time is taken into account with pressure during a kind of powder pressing, including receiving module, it is used to connect
Expectation pressing time, press power desired value and the proportionality coefficient of the author that brings drill to an end input；Slope computing module, it, which is used to calculate, determines
The time-consuming slope of precommpression fluid, the slope is ratio of the press power desired value with expecting pressing time；First control module,
It is used to control pressurizing valve to export initial velocity, and the initial velocity is the ratio of slope and proportionality coefficient；Detect judgement processing
Module, it is used for the real-time press time for detecting pressing process, its size with the limit press time is judged, if suppress in real time
Between be more than the limit press time, pressurizing valve zero output；If the real-time press time is less than or equal to the limit press time, pressure is obtained
Average value；First comparison process module, it is used for the size for comparing pressure mean values and press power desired value, if pressure mean values
More than or equal to press power desired value, pressurizing valve zero output, display precharge time and pressure setup time；If pressure mean values
Less than press power desired value, compare pressure mean values and start the size of press power with closed loop；Second comparison process module, it is used for
When pressure mean values are less than press power desired value, compare whether pressure mean values start press power less than closed loop, if so, pressurizing valve
Continue to output initial velocity；If it is not, calculating pressure setup time, the pressure setup time is expectation pressing time and precharge
The difference of time, it is precommpression fluid and the pressure side dividing value for setting up pressure, the precharge time that the closed loop, which starts press power,
Reach that closed loop starts the time spent by press power for master cylinder average pressure；3rd comparison process module, it is used to compare pressure
Power setup time and the size of default standard time, the scope of the standard time is between 100~1000ms, if pressure is built
It is more than the standard time between immediately, calculates pressure and set up slope, the pressure is set up slope and set up for press power desired value with pressure
The ratio of time；Computing module, it is used to calculate the average pressure value increased within the unit interval and actual pressure slope, described
Actual pressure slope is average pressure value and the ratio of unit interval；Second computing module, it is used to calculate actual pressure slope
The slope difference of slope is set up with pressure；Second control module, it is used to control pressurizing valve to export second speed, second speed
Spend the ratio for slope difference and proportionality coefficient；Loop module, it is used to the first comparison process module, second comparing processing mould
Block, the 3rd comparison process module, computing module, the result of the second computing module and the second control module are fed back at detection judgement
Manage module.
Further, the limit press time is that powder is molded 2~5 times of total time.
Compared with prior art, the beneficial effects of the present invention are：
The present invention solves powder forming in pressing unfired brick, and system provides apparent compacting relation to operator, and
The relation of time and compacting quality is accomplished to optimize.The application of this technology, apparent, convenient manipulation side is provided by operator
Method, is greatly improved the controllability of powder forming, adaptability of the enhancing powder forming to different powders.
Brief description of the drawings
Fig. 1 is that existing pressing stage takes schematic diagram；
Fig. 2 is the existing control schematic diagram using pressure as target；
Fig. 3 is the existing control schematic diagram using the time as target；
Fig. 4 is the step flow chart of the closed loop control method that the time is taken into account with pressure during the present embodiment powder pressing；
Fig. 5 is the structured flowchart of the closed-loop control system that the time is taken into account with pressure during powder pressing.
Diagram：1-receiving module；2-slope computing module；3-the first control module；4-detection judging treatmenting module；
5-the first comparison process module；6-the second comparison process module；7-the three comparison process module；8-calculate mould
Block；
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, the present invention schematic implementation and
Illustrate for explaining the present invention, but it is not as a limitation of the invention.
As shown in figure 4, the closed loop control method bag that the time is taken into account with pressure during powder pressing described in the present embodiment
Include following steps：
S10：Receive expectation pressing time, press power desired value and the proportionality coefficient of operator's input.
Pressing time T. is expected by device operator inputTargetWith press power desired value P.Target, and Proportional coefficient K.
The span of K values have oil cylinder inherent characteristic determine, that is, master cylinder design once it is determined that, its inherent characteristic that is, really
It is fixed.And in order to avoid except zero, Proportional coefficient K is necessary for nonzero value.
S11：Calculate the slope for determining that precommpression fluid is time-consuming.
Slope is ratio of the press power desired value with expecting pressing time.Press power desired value P.TargetDivided by expect pressurization
Time T.Target, as a result it is assigned to slopeSet.SlopeSetDetermine the time-consuming of precommpression fluid.
S12：Control pressurizing valve output initial velocity.
Initial velocity is the ratio of slope and proportionality coefficient.Control pressurizing valve output initial velocity V.BaseFor slopeSet
Divided by Proportional coefficient K.By V.BaseIt is assigned to the output order V. of pressurizing valveOutput.In this step, set by operator
Press power desired value P.TargetWith expectation pressing time T.TargetBoth ratio, judges the desired value of operator.Operator is such as
Expect to reach elevated pressures in the short time, then ratio is larger.Such as expect to reach lower pressure in long-time, then ratio is smaller.Again
The speed of precommpression fluid is determined with the ratio, meets operator's wish.
S13：Judge the real-time press time of pressing process and the size of limit press time.
When starting compacting, real-time press time T. is calculatedRealIf, T. when suppressing in real timeRealWhen being suppressed more than or equal to the limit
Between T.Limited, terminate compacting, by output order V.OutputZero setting, and show real-time press time T.Real.The limit press time
It it is 2~5 times of times that powder is molded total time, for example the molding time from powder to base substrate is 10s, then when the limit can be suppressed
Between T.LimitedIt is set as 3 × 10=30s.This step ensures that this method avoids enter into endless loop with limit time.
Suppressed within the limit press time, controller obtains master cylinder real-time pressure P. by modulus transition elementReal,
And using disclosed moving average method, obtain pressure mean values P.RealAverage.It is to prevent liquid using moving average
The false pressure peak brought in pressure pipe road to the moment impact of pressure sensor component, moving average plays filter action.
S14：Compare the size of pressure mean values and press power desired value.
Compare pressure mean values P.RealAverageWith press power desired value P.TargetMagnitude relationship, if pressure mean values
More than or equal to press power desired value P.Target, terminate compacting, and by output order V.OutputZero setting, display the precharge time and
Pressure setup time；If pressure mean values are less than press power desired value, step S15 is performed.
S15：Compare pressure mean values and start the size of press power with closed loop.
In pressure mean values P.RealAverageNot up to press power desired value P.TargetBefore, compare pressure mean values
P.RealAverageStart press power P. with closed loopCloseLoopStartRelation.Closed loop starts press power P.CloseLoopStartFor precommpression
Fluid and the pressure side dividing value for setting up pressure, when master cylinder pressure equal to closed loop starts press power P.CloseLoopStartWhen, it is believed that it is pre-
Compressed oil pendular ring section end.If pressure mean values P.RealAverageStart press power P. less than closed loopCloseLoopStart, continue to make
Use V.BaseInstruction is suppressed.Start press power P. here by closed loopCloseLoopStart, can clearly judge to compress fluid
Really set up the link of pressure.
If pressure mean values P.RealAverageStart press power P. more than or equal to closed loopCloseLoopStart, then into pressure-
Time closed loop link.Calculate pressure setup time T.Build, it is by expecting pressing time T.TargetWith the precharge time
T.PrePressDifference determine.Precharge time T.PrePressFor master cylinder average pressure P.RealAverageReach that closed loop starts compacting
Power P.CloseLoopStartThe spent time.The precharge time T. of this stepPrePressCompacting is assessed for follow-up operating personnel
Speed provides quantitative basis.And provide time parameter for follow-up when m- pressure closed loop link.
S16：Compare the size of pressure setup time and default standard time.
To avoid pressure setup time T.BuildClose to 0, such as 2ms, such pressure setup time T.BuildDo not possess any
Engineering significance.For example require that master cylinder sets up 1000bar pressure in 2ms, this is not substantially inconsistent with machinery and hydraulic characteristic, so
Locate standard time A value to determine for the minimum time needed for setting up a certain pressure, such as 100~1000ms.Using standard time A to comment
Standard is sentenced, if pressure setup time T.BuildLess than or equal to standard time A, then with V.BaseFor the output order of pressurizing valve, etc.
Treat master cylinder pressure mean values P.RealAverageMore than or equal to press power desired value P.TargetOccur, then terminate pressurization, will be defeated
Go out to instruct V.OutputZero setting, and the expectation pressing time T. that prompting operator inputs on human-computer interaction interfaceTargetIt is too short.This
Step more intelligently judges pressure setup time T.BuildReasonability, it is ensured that once occur the pressure without engineering significance build
T. between immediatelyBuildDuring appearance, this method is abandoned expecting pressing time T.TargetIt is required that, it is ensured that press power desired value P.TargetStandard
True property.
If pressure setup time T.BuildMore than standard time A, then calculate pressure and set up slopeBuild.It is by pressing
Power desired value P. processedTargetWith pressure setup time T.BuildRatio determine.By P.TargetDivided by T.Build, it is assigned to αBuild。
The purpose of this step is according to remaining time T.BuildTo determine the acceleration slope α for setting up pressureBuild。
S17：Calculate the average pressure value increased within the unit interval and actual pressure slope.
The average pressure value increased in unit interval can be by the reading of pressure sensor, and binding time is calculated, real
Border pressure slope αRealFor average pressure value △ P.RealAverageWith unit interval △ T ratio, i.e. αReal=△
P.RealAverage/△T。
S18：Calculate the slope difference that actual pressure slope sets up slope with pressure.
Actual pressure slopeRealSlope is set up with expectationBuildDifference be slope difference △ α, i.e. △ α=αReal-
α.Build。
S19：Control pressurizing valve output second speed.
Second speed V.Output=△ α/K.
S20：Return and perform S13.
The data obtained according to step S13-S19, are back to step S13, and circulation performs step S13-S19.Pressurization until
Master cylinder pressure mean values P.RealAverageMore than or equal to press power desired value P.Target.And take T. by actualPrePressWith
T.Build.This step uses the P methods in PID control, it is ensured that pressing process takes into account T.BuildAnd P.TargetAccuracy.From
And finally ensure to take into account T.TargetAnd P.TargetAccuracy.
As shown in figure 5, the closed-loop control system that the time is taken into account with pressure during a kind of its powder pressing, including：
Receiving module 1, it receives expectation pressing time, press power desired value and the proportionality coefficient of operator's input；
Slope computing module 2, it calculates the slope for determining that precommpression fluid is time-consuming, the slope be press power desired value with
Expect the ratio of pressing time；
First control module 3, it controls pressurizing valve output initial velocity, the initial velocity be slope and proportionality coefficient it
Ratio；
Judging treatmenting module 4 is detected, it detects the real-time press time of pressing process, judges itself and limit press time
Size, if the press time is more than limit press time, pressurizing valve zero output in real time；If the real-time press time is less than or equal to the limit
Press time, pressure mean values are obtained, the limit press time is 2~5 times that powder is molded total time；
First comparison process module 5, the size of its comparison pressure mean values and press power desired value, if pressure mean values are big
In or equal to press power desired value, pressurizing valve zero output, display precharge time and pressure setup time；If pressure mean values are small
In press power desired value, compare pressure mean values and start the size of press power with closed loop；
Second comparison process module 6, when pressure mean values are less than press power desired value, compares whether pressure mean values are less than
Closed loop starts press power, if so, pressurizing valve continues to output initial velocity；If it is not, calculating pressure setup time, the pressure is set up
The closed loop started press power for precommpression fluid and set up pressure to expect the difference of pressing time and precharge time time
Pressure side dividing value, the precharge time is that master cylinder average pressure reaches that closed loop starts the time spent by press power；
3rd comparison process module 7, its comparison pressure setup time and the size of default standard time, during the standard
Between scope between 100~1000ms, if pressure setup time be more than the standard time, calculate pressure set up slope, the pressure
Power sets up ratio of the slope for press power desired value and pressure setup time；
Computing module 8, it calculates the average pressure value increased within the unit interval and actual pressure slope, the actual pressure
Power slope is average pressure value and the ratio of unit interval；
Second computing module 9, it is used to calculate actual pressure slope and pressure sets up the slope difference of slope；
Second control module 10, it is used to controlling pressurizing valve to export second speed, the second speed be slope difference with
The ratio of proportionality coefficient；
Loop module 11, it is used to the first comparison process module, the second comparison process module, the 3rd comparing processing mould
Block, computing module, the result of the second computing module and the second control module feed back to detection judging treatmenting module.
For system disclosed in embodiment, because it is corresponding with method disclosed in embodiment, between modules
Connection work relationship refer to embodiment of the method.
The technical scheme provided above the embodiment of the present invention is described in detail, specific case used herein
Principle and embodiment to the embodiment of the present invention are set forth, and the explanation of above example is only applicable to help and understands this
The principle of inventive embodiments；Simultaneously for those of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party
It will change in formula and application, in summary, this specification content should not be construed as limiting the invention.
Claims (5)
1. the closed loop control method that the time is taken into account with pressure during a kind of powder pressing, it is characterised in that including performing successively
Following steps：
S10：Receive expectation pressing time, press power desired value and the proportionality coefficient of operator's input；
S11：The slope for determining that precommpression fluid is time-consuming is calculated, the slope is press power desired value with expecting the ratio between pressing time
Value；
S12：Pressurizing valve output initial velocity is controlled, the initial velocity is the ratio of slope and proportionality coefficient；
S13：The real-time press time of pressing process is detected, its size with the limit press time is judged, if the press time in real time
More than limit press time, pressurizing valve zero output；If the real-time press time is less than or equal to the limit press time, obtains pressure and put down
Average；
S14：Compare the size of pressure mean values and press power desired value, if pressure mean values are more than or equal to press power target
Value, pressurizing valve zero output, display precharge time and pressure setup time；If pressure mean values are less than press power desired value, than
Compared with the size that pressure mean values and closed loop start press power；
S15：When pressure mean values less than closed loop start press power, pressurizing valve continues to output initial velocity；When pressure mean values are big
Start press power in or equal to closed loop, calculate pressure setup time, the pressure setup time is expectation pressing time and pre-add
The difference of pressure time, it is precommpression fluid and the pressure side dividing value for setting up pressure that the closed loop, which starts press power, during the precharge
Between reach that closed loop starts the time spent by press power for master cylinder average pressure；
S16：Compare the size of pressure setup time and default standard time, the scope of the standard time 100~
Between 1000ms, if pressure setup time is more than the standard time, calculates pressure and set up slope, it is compacting that the pressure, which sets up slope,
The ratio of power desired value and pressure setup time；
S17：The average pressure value increased within the unit interval and actual pressure slope are calculated, the actual pressure slope is average
Pressure value and the ratio of unit interval；
S18：Calculate the slope difference that actual pressure slope sets up slope with pressure；
S19：Pressurizing valve output second speed is controlled, the second speed is slope difference and the ratio of proportionality coefficient；
S20：Return and perform S13.
2. the closed loop control method that the time is taken into account with pressure during powder pressing according to claim 1, its feature exists
In the acquisition pressure mean values are specially the real-time pressure that master cylinder is obtained within the limit press time, flat using sliding
Equal method, which is calculated, obtains pressure mean values.
3. the closed loop control method that the time is taken into account with pressure during powder pressing according to claim 1, its feature exists
In the limit press time is 2~5 times that powder is molded total time.
4. the closed-loop control system that the time is taken into account with pressure during a kind of powder pressing, it is characterised in that including：
Receiving module, it is used for the expectation pressing time, press power desired value and the proportionality coefficient that receive operator's input；
Slope computing module, it is used to calculating the slope for determining that precommpression fluid is time-consuming, the slope be press power desired value with
Expect the ratio of pressing time；
First control module, it is used to controlling pressurizing valve to export initial velocity, the initial velocity be slope and proportionality coefficient it
Ratio；
Judging treatmenting module is detected, it is used for the real-time press time for detecting pressing process, judges itself and limit press time
Size, if the press time is more than limit press time, pressurizing valve zero output in real time；If the real-time press time is less than or equal to the limit
Press time, obtain pressure mean values；
First comparison process module, it is used for the size for comparing pressure mean values and press power desired value, if pressure mean values are big
In or equal to press power desired value, pressurizing valve zero output, display precharge time and pressure setup time；If pressure mean values are small
In press power desired value, compare pressure mean values and start the size of press power with closed loop；
Second comparison process module, it is used to, when pressure mean values are less than press power desired value, whether small compare pressure mean values
Start press power in closed loop, if so, pressurizing valve continues to output initial velocity；If it is not, calculating pressure setup time, the pressure is built
To expect the difference of pressing time and precharge time between immediately, the closed loop starts press power for precommpression fluid and sets up pressure
Pressure side dividing value, the precharge time be master cylinder average pressure reach that closed loop starts the time spent by press power；
3rd comparison process module, it is used to compare pressure setup time and the size of default standard time, during the standard
Between scope between 100~1000ms, if pressure setup time be more than the standard time, calculate pressure set up slope, the pressure
Power sets up ratio of the slope for press power desired value and pressure setup time；
Computing module, it is used to calculate the average pressure value increased within the unit interval and actual pressure slope, the actual pressure
Power slope is average pressure value and the ratio of unit interval；
Second computing module, it is used to calculate actual pressure slope and pressure sets up the slope difference of slope；
Second control module, it is used to control pressurizing valve to export second speed, and the second speed is slope difference and ratio system
The ratio of number；
Loop module, it is used for the first comparison process module, the second comparison process module, the 3rd comparison process module, calculating
The result of module, the second computing module and the second control module feeds back to detection judging treatmenting module.
5. the closed-loop control system that the time is taken into account with pressure during powder pressing according to claim 4, its feature exists
In the limit press time is 2~5 times that powder is molded total time.
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| 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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