CN106194869A - A kind of many group hydraulic cylinder dynamic synchronization motion control methods - Google Patents

Abstract

The open a kind of many group hydraulic cylinder dynamic synchronization motion control methods of the present invention, hydraulic cylinder is divided into several regions by the method, is divided into again and organizes hydraulic cylinder more in each region, and often group hydraulic cylinder is made up of active cylinder A and slave cylinder B or plunger case.Use and first control often to organize hydraulic cylinder and reach same level position, then control the method that hydraulic cylinder in each region reaches same level position, complete every piece of heating platen horizontal check work.According to the displacement of targets amount set and movement time, calculating heating platen fall off rate, after making certain time period, all heating platens reach specify position and be in same level simultaneously.Owing to heating platen target location is identical, between heating platen, displacement difference is gradually reduced, and finally tends to same level, displacement can be avoided in the accumulation of motor process, be finally reached the control effect of dynamic synchronization motion.

Description

A kind of many group hydraulic cylinder dynamic synchronization motion control methods

Technical field

The present invention relates to organize one hydraulic cylinder dynamic synchronization motion control method more, can realize organizing liquid by the method more Cylinder pressure is in the case of displacement is different with movement velocity, and be rapidly achieved degree of precision stablizes the state of being synchronized with the movement.

Background technology

In middle and higher density fibre board production line of continuous press, the cylinder movement state of hot pressing section is directly connected to fiber The production technology of plate and quality.This large-scale production line, hot pressing segment length 25m, wide 2.4m, spelled by polylith rectangular element heating platen Connecing and form, it is dispersed with many group piston cylinders and plunger case, the fiberboard thickness of production is in the range of 2mm-30mm.And this Plant the big and heavy hot rolled sheet lifting of span and decline be not nothing the matter, and require to be synchronized with the movement during decline, Same group of hydraulic cylinder need to be maintained at same level height, otherwise in uneven thickness on width of plate slab direction, causes producing waste product. In the case of more serious, the force-bearing situation of hydraulic press all parts and the working life of hydraulic press can be affected, responsibility even occurs Accident.

The position Synchronous motion control many employings master slave control strategies organizing hydraulic cylinder, the premise of this strategy is hydraulic cylinder more Initial position is identical, preassigns main system and from system, and master-slave system is the most immutable.So middle and high close Degree fibre board continuous press control system in, it is difficult to meet hydraulic cylinder precision height, fast response time, reliable operation control will Ask.

Therefore, how to solve the problems referred to above to become those skilled in the art and need the technical barrier overcome badly.

Summary of the invention

For problems of the prior art, it is an object of the invention to provide and one, organize hydraulic cylinder synchronous motion control more Method processed, the method can realize heating platen and be maintained at the same horizontal plane in lifting process, overcome in prior art and deposit Deficiency.

For achieving the above object, the present invention is by the following technical solutions:

A kind of many group hydraulic cylinder dynamic synchronization motion control methods, described control method comprises the steps:

1) piston cylinder in the hot pressing section middle frame unit of middle and higher density fibre board production line of continuous press is filtered out, and Numbering each column piston cylinder, compile from left to right and arrange for 1-N, each column is made up of upper and lower 2 piston cylinders, and wherein, upper strata piston cylinder is A Number, underlying piston cylinder is No. B, so far completes the numbering work of piston cylinder；

2) by step 1) in N row piston cylinder be divided into X group, the number of heating platen unit in the value of X and continuous press hot pressing section Amount keeps consistent；

3) often group piston cylinder all uses master-slave control method, i.e. B piston rod to follow A piston rod movement, makes A, B in each column live Stopper rod displacement is equal；

4) gather the piston rod displacement of every piece of heating platen unit piston cylinder at the middle and upper levels, calculate meansigma methods after adding up, then make The piston rod stretching motion of upper strata piston cylinder so that it is displacement moves to mean values；

5) regulation servo valve aperture, makes each hydraulic cylinder piston rod displacement in every piece of heating platen unit identical, i.e. every piece heat In pressing plate, hydraulic cylinder is promoted to same level height；

6) detect all heating platen unit to target location stroke, set the heating platen down or up time, calculate every piece The down or up speed of heating platen, finally makes all heating platen unit reach target location simultaneously；

7) after heating platen reaches object height position, arranging the sheet metal thickness of processing, all heating platen unit synchronize fortune Dynamic, complete to suppress middle and higher density fibre board action.

Further, described piston rod displacement is recorded by displacement transducer.

Further, the numerical value of described target location is set by operator, and the numerical value of the sheet metal thickness of described processing is by operating Member sets.

The invention have the advantages that

In the application identical due to heating platen target location, between heating platen, displacement difference is gradually reduced, finally tend to One horizontal plane, can avoid displacement in the accumulation of motor process, be finally reached the control effect of dynamic synchronization motion.

Accompanying drawing explanation

Fig. 1 is the middle and higher density fibre board production line of continuous press hot pressing section hydraulic cylinder branch signal of the embodiment of the present application Figure；

Fig. 2 is the middle and higher density fibre board production line of continuous press heating platen initial position schematic diagram of the embodiment of the present application；

Fig. 3 is that the middle and higher density fibre board production line of continuous press heating platen of the embodiment of the present application reaches target location and shows It is intended to.

Detailed description of the invention

Below, with reference to accompanying drawing, the present invention is more fully illustrated, shown in the drawings of the exemplary enforcement of the present invention Example.But, the present invention can be presented as multiple multi-form, is not construed as the exemplary enforcement being confined to describe here Example.And it is to provide these embodiments, so that the present invention is fully and completely, and will fully convey the scope of the invention to this The those of ordinary skill in field.

For ease of explanation, here can use such as " on ", the space relative terms such as D score " left " " right ", be used for Shown in bright figure a element or feature are relative to another element or the relation of feature.It should be understood that except in figure Outside the orientation illustrated, spatial terminology is intended to include device different azimuth in use or operation.Such as, if in figure Device is squeezed, be stated as being positioned at the element of other elements or feature D score will be located into other elements or feature " on ".Cause This, exemplary term D score can comprise upper and lower both orientation.Device can otherwise position (90-degree rotation or be positioned at Other orientation), relatively illustrate used herein of space correspondingly to explain.

Fig. 1-3 show the preferred embodiments of the present invention, and in this embodiment, middle and higher density fibre board continuous press is raw Produce the hot pressing section of line by 32 framing unit, slab feeding part, drive roll, driven voller, steel band, upper and lower chain blanket, upper and lower hot pressing The structure such as plate, hydraulic jack forms.Wherein 32 framing unit constitute continuous press body, and lower hot pressing board is installed on frame unit Bottom support surface on, and maintain static；Many group hydraulic jack one end are connected to above frame unit, the other end and upper hot pressboard phase Even, by controlling the flexible upper and lower motion realizing heating platen of oil cylinder；It is sequentially the parts such as chain blanket, steel band below upper hot pressboard, And be driven by corresponding servomotor.

Wherein, upper hot pressboard is formed by 9 pieces of heating platen unit spliceds, every piece of heating platen unit connects what 1-4 row did not waited Hydraulic cylinder.Upper hot pressboard is the piston cylinder servo valve aperture being attached thereto by regulation, controls piston cylinder and stretches up and down, and then band Dynamic heating platen rise and fall.

Hydraulic cylinder is by having the piston cylinder of castering action, and follows the plunger case composition of the upper and lower motion of piston cylinder.According to altogether Regard the design principle of a jacking system with the piston cylinder of same oil circuit as, be divided into 32 jacking systems, each lifting System is made up of piston cylinder or plunger case.Displacement transducer Real-time Collection piston rod extension elongation, is used for monitoring heating platen and moves Speed and displacement.

For solving problems of the prior art, the present invention adopts the following technical scheme that

Step 1: filter out piston cylinder in 32 framing unit, and number each column piston cylinder, compiles from left to right as 1-20 Row, each column is made up of upper and lower 2 piston cylinders, and Fig. 1 piston cylinder at the middle and upper levels is No. A, and underlying piston cylinder is No. B, so far completes 40 The numbering work of piston cylinder.

20 row piston cylinders are divided into 9 groups by step 2: continuous press hot pressing section is made up of 9 pieces of heating platen unit.Often group is lived Stopper rod is numbered: first group is 1-3 row, and second group is 4-5 row, and the 3rd group is 6 row, and the 4th group is 7-8 row, and the 5th group is 9-11 Row, the 6th group is 12-15 row, and the 7th group is 16-17 row, and the 8th group is 18-19 row, and the 9th group is 20 row.

Step 3: each column piston cylinder uses master-slave control method, i.e. B piston rod follows A piston rod movement, make A in each column, B piston rod displacement is equal.

Step 4: gather No. 1A, No. 2A and 3A piston rod of piston cylinder displacement in heating platen 1, calculates average after adding up Value, then make No. 1A, No. 2A and 3A cylinder piston rod stretching motion so that it is displacement moves to mean values, follows 1A for No. 1B Number piston rod movement, follows 2A piston rod movement, follows 3A piston rod movement for No. 3B for No. 2B.So far, it is ensured that heating platen 1 In each hydraulic cylinder piston rod stroke identical.Repeat above procedure, gather 2-9 heating platen, A liquid in i.e. every piece heating platen Pressure cylinder piston bar displacement.

Gather 1A, 2A, 3A piston rod of piston cylinder displacement in heating platen 1 particularly as follows:

Gather 1A, 2A, 3A piston rod of piston cylinder displacement in heating platen 1, be respectively labeled as L1A, L2A, L3A；

Calculating 1A, 2A, 3A piston rod displacement meansigma methods, be labeled as l1, computational methods are as follows:

$l_1=\frac{L_{1A}+L_{2A}+L_{3A}}{3}$

In heating platen 1,1A, 2A, 3A piston rod of piston cylinder moves to displacement l₁Position, B piston rod of piston cylinder is followed Respective column A piston rod, mobile to displacement l₁Position.In heating platen 1, plunger case follows piston rod of piston cylinder, mobile to displacement Amount l₁Position.So far in heating platen 1, all hydraulic cylinder piston rod is in same level, and displacement is identical, for l₁。

In like manner, calculate in heating platen 2-9, the piston rod displacement meansigma methods of every piece of heating platen, computational methods are as follows:

$l_2=\frac{L_{4A}+L_{5A}}{2}$

l₃=L_{6, A}

$l_4=\frac{L_{7A}+L_{8A}}{2}$

$l_5=\frac{L_{9A}+L_{10A}+L_{11A}}{3}$

$l_6=\frac{L_{12A}+L_{13A}+L_{14A}+L_{15A}}{4}$

$l_7=\frac{L_{16A}+L_{17A}}{2}$

$l_8=\frac{L_{18A}+L_{19A}}{2}$

l₉=L₂₀

Wherein, l₂For 4A, 5A piston rod displacement meansigma methods；l₃For 6A piston rod displacement；l₄For 7A, 8A work Stopper rod displacement meansigma methods；l₅For 9A, 10A, 11A piston rod displacement meansigma methods；l₆For 12A, 13A, 14A, 15A piston Bar displacement meansigma methods；l₇For 16A, 17A piston rod displacement meansigma methods；l₈Average for 18A, 19A piston rod displacement Value；l₉For 20A piston rod displacement.

In heating platen 2,4A, 5A piston rod of piston cylinder moves to displacement l₂Position, in heating platen 3,6A piston cylinder is lived Stopper rod displacement is constant, is still L6A, i.e. l₃Position, in heating platen 4,7A, 8A piston rod of piston cylinder moves to displacement l₄Position Putting, in heating platen 5,9A, 10A, 11A piston rod of piston cylinder moves to displacement l₅Position, 12A in heating platen 6,13A, 14A, 15A piston rod of piston cylinder moves to displacement l₆Position, in heating platen 7,16A, 17A piston rod of piston cylinder moves to displacement Amount l₇Position, in heating platen 8,18A, 19A piston rod of piston cylinder moves to displacement l₈Position, 20A piston cylinder in heating platen 9 Piston rod displacement is constant, is still L20A, i.e. l₉Position.

Step 5: regulation servo valve aperture, makes each hydraulic cylinder piston rod displacement in every piece of heating platen identical, i.e. every piece heat In pressing plate, hydraulic cylinder is promoted to same level height.In every piece of heating platen, B piston rod of piston cylinder follows respective column A piston Cylinder, mobile to displacement meansigma methods position.Plunger case follows piston rod of piston cylinder equally, mobile to displacement meansigma methods position. So far, in every piece of heating platen, all hydraulic cylinder piston rod is in same level, and displacement is identical.

Step 6: detection 1-9 heating platen to target location stroke, setting heating platen fall time, calculates every piece of hot pressing Plate fall off rate, finally makes 9 pieces of heating platens reach target location simultaneously, and i.e. 9 pieces heating platens reach same level.

Arranging the target location that upper hot pressboard is finally reached, the distance lower hot pressing board distance of positions, from for L, gathers 1-9 heating platen Drop to the displacement of object height position, be respectively labeled as L₁、L₂、L₃、L₄、L₅、L₆、L₇、L₈、L₉, heating platen is set and drops to The object height position time is t, calculates 1-9 heating platen fall off rate, is designated as v respectively₁、v₂、v₃、v₄、v₅、v₆、v₇、v₈、v₉。 Computational methods are as follows:

$v_1=\frac{L_1}{t}$

$v_2=\frac{L_2}{t}$

$v_3=\frac{L_3}{t}$

$v_4=\frac{L_4}{t}$

$v_5=\frac{L_5}{t}$

$v_6=\frac{L_6}{t}$

$v_7=\frac{L_7}{t}$

$v_8=\frac{L_8}{t}$

$v_9=\frac{L_9}{t}$

The known down or up speed of every piece of heating platen, regulating piston cylinder servo valve aperture, control hydraulic cylinder piston cylinder and move Make, make 1-9 heating platen after the t time, reach object height position simultaneously.

Step 7: after heating platen reaches object height position, the sheet metal thickness arranging processing is δ (δ < L), 9 pieces of hot pressing Plate is synchronized with the movement, and completes to suppress middle and higher density fibre board action.

Described above simply to illustrate that the present invention, it is understood that to the invention is not limited in above example, meet The various variants of inventive concept are all within protection scope of the present invention.

Claims (3)

1. organize hydraulic cylinder dynamic synchronization motion control method one kind, it is characterised in that described control method comprises the steps: more

1) piston cylinder in the hot pressing section middle frame unit of middle and higher density fibre board production line of continuous press is filtered out, and to often Row piston cylinder is numbered, and compiles from left to right and arranges for 1-N, and each column is made up of upper and lower 2 piston cylinders, and wherein, upper strata piston cylinder is No. A, Underlying piston cylinder is No. B, so far completes the numbering work of piston cylinder；

2) by step 1) in N row piston cylinder be divided into X group, in the value of X and continuous press hot pressing section, the quantity of heating platen unit is protected Hold consistent；

3) often group piston cylinder all uses master-slave control method, i.e. B piston rod to follow A piston rod movement, make A, B piston rod in each column Displacement is equal；

4) gather the piston rod displacement of every piece of heating platen unit piston cylinder at the middle and upper levels, calculate meansigma methods after adding up, then make upper strata The piston rod stretching motion of piston cylinder so that it is displacement moves to mean values；

5) regulation servo valve aperture, makes each hydraulic cylinder piston rod displacement in every piece of heating platen unit identical, i.e. every piece heating platen Middle hydraulic cylinder is promoted to same level height；

6) detect all heating platen unit to target location stroke, set the heating platen down or up time, calculate every piece of hot pressing The down or up speed of plate, finally makes all heating platen unit reach target location simultaneously；

7) after heating platen reaches object height position, arranging the sheet metal thickness of processing, all heating platen unit are synchronized with the movement, complete Become compacting middle and higher density fibre board action.

Many group hydraulic cylinder dynamic synchronization motion control methods the most according to claim 1, it is characterised in that described piston rod Displacement is recorded by displacement transducer.

Many group hydraulic cylinder dynamic synchronization motion control methods the most according to claim 1, it is characterised in that described target position The numerical value put is set by operator, and the numerical value of the sheet metal thickness of described processing is set by operator.