CN106870488A - A kind of hydraulic double cylinder synchronous control system based on MRFAC - Google Patents
A kind of hydraulic double cylinder synchronous control system based on MRFAC Download PDFInfo
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- CN106870488A CN106870488A CN201510913191.5A CN201510913191A CN106870488A CN 106870488 A CN106870488 A CN 106870488A CN 201510913191 A CN201510913191 A CN 201510913191A CN 106870488 A CN106870488 A CN 106870488A
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Abstract
A kind of hydraulic double cylinder synchronous control system based on MRFAC, by the more commonly used hydraulic pressure representative synchronization loop, with reference to the design requirement of mould seat-grinding pressure machine, it is determined that using double proportional flow control valves on working connection, and the descending control program of two-tank method controlled simultaneously using servo valve in bypass.Response added with the slave cylinder of MRFAC controls restrains faster, and the displacement of cylinder can be well tracked in whole time history, so as to the precise synchronization for realizing mould bedding-in is controlled, using the external interference for increasing open-loop gain and band-limited white noise and being superimposed on to simulate input.
Description
Technical field
The present invention relates to a kind of hydraulic double cylinder synchronous control system based on MRFAC, it is adaptable to mechanical field.
Background technology
Mould seat-grinding pressure machine is manufacture, one of the key equipment of the big-and-middle-sized mould of refine in the industry such as automobile, plastics, die casting.With the continuous progressive and development of China's mould modernization science and technology, most of Die ＆ Mold Manufacturing Companies have been completed the transformation from artificial hammering matched moulds to mould seat-grinding pressure machine automatic die assembly, but the domestic shaped articles developed few at present, the machinery that mould is repaired by most large and medium-sized enterprise is all non-domestic (Continental Area), mould seat-grinding pressure machine such as Hainan Mazda diemaking shop is introduced from Taiwan Di Si oil pressure Industrial Co., Ltd, cost is so not only substantially increased, and the repairing of mould is relatively difficult.And it is a kind of waste of fund to change value mould very high again and again, therefore the development of high accuracy bedding-in hydraulic press just seems that comparing is urgent, with very big market application value and potentiality.And the hydraulic control system of seat-grinding pressure machine is the key for ensureing forcing press bedding-in precision.
The content of the invention
The present invention proposes a kind of hydraulic double cylinder synchronous control system based on MRFAC, by the more commonly used hydraulic pressure representative synchronization loop, with reference to the design requirement of mould seat-grinding pressure machine, determine using double proportional flow control valves on working connection, and the descending control program of two-tank method controlled simultaneously using servo valve in bypass.
The technical solution adopted in the present invention is.
The realization of the coarse synchronization during the twin-tub of the synchronous control system is descending, proportional flow control valve 1 receives displacement command signal, proportional flow control valve 2 receives the deviation signal of rate signal and two hydraulic cylinder displacements simultaneously, so cylinder 1 is active cylinder, cylinder 2 is slave cylinder, and changing command signal can change the displacement of two cylinders.Signal is given by Press Control System master controller (such as PLC), and it is two control electric currents of proportioning valve that electric controller is inputted voltage conversion, the flow of valve is controlled, so that the operating rate of master cylinder.By grating displacement sensor L1, L2 measures the instant displacement of cylinder, and its output valve is voltage VL1、VL2, VL1With VL2Difference reflect two cylinder synchronous errors, as feedback circuit input, it is amplified to be superimposed to system input as system negative-feedback, so as to correct displacement immediately, it is ensured that the synchronous operation of twin-tub.Its advantage is：In the case of closed-loop control, only one of which proportional flow control valve plays autoregulation, and another plays fixed restriction, therefore equivalent to a service valve has been filled, this redundancy design improves the reliability of system.
During the bedding-in of the control system, because there is dead band and serious flow is non-linear in proportioning valve, although a certain degree of synchronization accuracy can be ensured during twin-tub is descending, but application percentage flow valve cannot meet the required precision of mould bedding-in during dynamic beam with underbeam matched moulds, therefore herein very on plinth, devise a two-tank method for servo valve control, so that dynamic beam and the accurate matched moulds positioning of underbeam, when the specified location of upper/lower die matched moulds is reached, servo valve is started working, cylinder 1 is active cylinder, displacement transducer Ll, L2 detects the position signalling of two cylinders respectively, two positions signal is compared, after amplified circuit amplifies, defeated people is to forming deviation signal in servo valve, so as to carry out repairing to cylinder 2 or drain the oil, until the synchronous operation of two cylinders.This system is controlled the direction of liquid stream by the current signal of defeated people, is also closed-loop control.
The Synchronization Control be two stages, the precision of bedding-in procedure relation to matched moulds, and finally influence mould bedding-in quality, it is necessary to selective analysis and discussion.Control element in this stage is electrohydraulic servo valve, and executive component is hydraulic cylinder, and feedback element is grating displacement sensor.Therefore, it is necessary to mathematical modeling is carried out to these critical components, so that the control system in stage to this is analyzed.
The nonlinear characteristic and parameter uncertainty of the electrohydraulic servo system are two principal elements for restricting the development of its control algolithm, and their nonlinear element is again unknown and time-varying.Fuzzy control seems highly effective when complicated, unclear, uncertain system is solved.Because fuzzy control is made up of language control rule, for the relation between input and output variable, described using conditional statement, thus do not need the accurate Mathematical Modeling of system, the system that can be applied to the uncertain even unknown-model of Mathematical Modeling.Additionally, fuzzy control is combined with Self Adaptive Control, also there is its unique advantage.Because Self Adaptive Control needs to pick out the accurate Mathematical Modeling of object, and adaptive mechanism is general more complicated, thus in engineer applied, its real-time is subject to certain restrictions.And parameter tuning is carried out with fuzzy controller need not carry out the derivation of parameter update law, this be other method it is incomparable.
When the dynamic parameter of Hydrauservo System changes, adaptive mechanism is according to generalized error.And its size of rate of change de/dt, be given during a Regulate signal feeds back to adjustable system by fuzzy self-adaption mechanism, to ensure the output of the output of Hydrauservo System follow cylinder 1 exactly.Research shows：The quantized factor and proportional factor of defeated people's fuzzy controller is adjusted, the domain in fuzzy controller is actually divided compression or is expanded, it is identical with Varied scope fuzzy control system nature.The input and output factor of real-time adjustment fuzzy self-adaption mechanism is restrained by Fuzzy factor auto-adjusting herein, Varied scope fuzzy control is realized, is practically equaled to and be increased fuzzy rule, so as to improve fuzzy self-adaption mechanism output adjustment precision.
The beneficial effects of the invention are as follows：Response added with the slave cylinder of MRFAC controls restrains faster, and the displacement of cylinder can be well tracked in whole time history, so as to the precise synchronization for realizing mould bedding-in is controlled, using the external interference for increasing open-loop gain and band-limited white noise and being superimposed on to simulate input.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is mould seat-grinding pressure machine synchronization system schematic diagram of the invention.
Fig. 2 is the block diagram of active cylinder electrohydraulic servo-controlling system of the invention.
Fig. 3 is Model reference fuzzy adaptive control schematic diagram of the invention.
In figure：1st, 2. hydraulic cylinder；3rd, 4. proportional flow control valve.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, the realization of the coarse synchronization during the twin-tub of synchronous control system is descending, proportional flow control valve 1 receives displacement command signal, proportional flow control valve 2 receives the deviation signal of rate signal and two hydraulic cylinder displacements simultaneously, so cylinder 1 is active cylinder, cylinder 2 is slave cylinder, and changing command signal can change the displacement of two cylinders.Signal is given by Press Control System master controller (such as PLC), and its defeated people's voltage conversion is two control electric currents of proportioning valve by electric controller, the flow of valve is controlled, so that the operating rate of master cylinder.By grating displacement sensor L1, L2 measures the instant displacement of cylinder, and its output valve is voltage VL1、VL2, VL1With VL2Difference reflect two cylinder synchronous errors, as feedback circuit input, it is amplified to be superimposed to system input as system negative-feedback, so as to correct displacement immediately, it is ensured that the synchronous operation of twin-tub.Its advantage is：In the case of closed-loop control, only one of which proportional flow control valve plays autoregulation, and another plays fixed restriction, therefore equivalent to a service valve has been filled, this redundancy design improves the reliability of system.
During the bedding-in of control system, because there is dead band and serious flow is non-linear in proportioning valve, although a certain degree of synchronization accuracy can be ensured during twin-tub is descending, but application percentage flow valve cannot meet the required precision of mould bedding-in during dynamic beam with underbeam matched moulds, therefore herein very on plinth, devise a two-tank method for servo valve control, so that dynamic beam and the accurate matched moulds positioning of underbeam, when the specified location of upper/lower die matched moulds is reached, servo valve is started working, cylinder 1 is active cylinder, displacement transducer Ll, L2 detects the position signalling of two cylinders respectively, two positions signal is compared, after amplified circuit amplifies, defeated people is to forming deviation signal in servo valve, so as to carry out repairing to cylinder 2 or drain the oil, until the synchronous operation of two cylinders.This system is controlled the direction of liquid stream by the current signal of defeated people, is also closed-loop control.
Such as Fig. 2, Synchronization Control is two stages, the precision of bedding-in procedure relation to matched moulds, and finally influences the quality of mould bedding-in, it is necessary to selective analysis and discussion.Control element in this stage is electrohydraulic servo valve, and executive component is hydraulic cylinder, and feedback element is grating displacement sensor.Therefore, it is necessary to mathematical modeling is carried out to these critical components, so that the control system in stage to this is analyzed.
The nonlinear characteristic and parameter uncertainty of electrohydraulic servo system are two principal elements for restricting the development of its control algolithm, and their nonlinear element is again unknown and time-varying.Fuzzy control seems highly effective when complicated, unclear, uncertain system is solved.Because fuzzy control is made up of language control rule, for the relation between input and output variable, described using conditional statement, thus do not need the accurate Mathematical Modeling of system, the system that can be applied to the uncertain even unknown-model of Mathematical Modeling.Additionally, fuzzy control is combined with Self Adaptive Control, also there is its unique advantage.Because Self Adaptive Control needs to pick out the accurate Mathematical Modeling of object, and adaptive mechanism is general more complicated, thus in engineer applied, its real-time is subject to certain restrictions.And parameter tuning is carried out with fuzzy controller need not carry out the derivation of parameter update law, this be other method it is incomparable.
Such as Fig. 3, when the dynamic parameter of Hydrauservo System changes, adaptive mechanism is according to generalized error.And its size of rate of change de/dt, be given during a Regulate signal feeds back to adjustable system by fuzzy self-adaption mechanism, to ensure the output of the output of Hydrauservo System follow cylinder 1 exactly.Research shows：Domain in fuzzy controller, is actually divided compression or expanded by the quantized factor and proportional factor of adjustment input fuzzy controller, identical with Varied scope fuzzy control system nature.The input and output factor of real-time adjustment fuzzy self-adaption mechanism is restrained by Fuzzy factor auto-adjusting herein, Varied scope fuzzy control is realized, is practically equaled to and be increased fuzzy rule, so as to improve fuzzy self-adaption mechanism output adjustment precision.
Claims (4)
1. a kind of hydraulic double cylinder synchronous control system based on MRFAC, it is characterized in that：The realization of the coarse synchronization during the twin-tub of the synchronous control system is descending, proportional flow control valve 1 receives displacement command signal, proportional flow control valve 2 receives the deviation signal of rate signal and two hydraulic cylinder displacements simultaneously, so cylinder 1 is active cylinder, cylinder 2 is slave cylinder, and changing command signal can change the displacement of two cylinders.
2. a kind of hydraulic double cylinder synchronous control system based on MRFAC according to claim 1, it is characterized in that：Signal is given by Press Control System master controller (such as PLC), and it is two control electric currents of proportioning valve that electric controller is inputted voltage conversion, the flow of valve is controlled, so that the operating rate of master cylinder.
3. a kind of hydraulic double cylinder synchronous control system based on MRFAC according to claim 1, it is characterized in that：By grating displacement sensor L1, L2 measures the instant displacement of cylinder, and its output valve is voltage VL1、VL2, VL1With VL2Difference reflect two cylinder synchronous errors, as feedback circuit input, it is amplified to be superimposed to system input as system negative-feedback, so as to correct displacement immediately, it is ensured that the synchronous operation of twin-tub.
4. a kind of hydraulic double cylinder synchronous control system based on MRFAC according to claim 1, it is characterized in that：One two-tank method of servo valve control of the Control System Design, so that dynamic beam and the accurate matched moulds positioning of underbeam, when the specified location of upper/lower die matched moulds is reached, servo valve is started working, cylinder 1 is active cylinder, displacement transducer Ll, L2 detect the position signalling of two cylinders respectively, and two positions signal is compared, after amplified circuit amplifies, defeated people to deviation signal is formed in servo valve, so as to carry out repairing to cylinder 2 or drain the oil, until the synchronous operation of two cylinders.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108005971A (en) * | 2017-11-07 | 2018-05-08 | 哈尔滨理工大学 | Double valve-controlled cylinder bringing onto load power control compensation collaborative devices and its control method |
| CN110407101A (en) * | 2019-07-25 | 2019-11-05 | 上海振华重工(集团)股份有限公司 | A kind of straddle carrier is to the synchronous double hydraulic system of case and its synchronous method |
| CN110744538A (en) * | 2019-09-12 | 2020-02-04 | 四川宏华电气有限责任公司 | Hydraulic position synchronous control method applied to petroleum machinery |
| CN111102257A (en) * | 2018-10-29 | 2020-05-05 | 株洲中车时代电气股份有限公司 | Hydraulic cylinder synchronous control method and system for controlling synchronous action of multiple hydraulic cylinders |
| CN111550472A (en) * | 2019-12-30 | 2020-08-18 | 福建工程学院 | Distributed pump-controlled adjacent deviation coupling neural network PID hydraulic climbing formwork jacking system |
-
2015
- 2015-12-11 CN CN201510913191.5A patent/CN106870488A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108005971A (en) * | 2017-11-07 | 2018-05-08 | 哈尔滨理工大学 | Double valve-controlled cylinder bringing onto load power control compensation collaborative devices and its control method |
| CN111102257A (en) * | 2018-10-29 | 2020-05-05 | 株洲中车时代电气股份有限公司 | Hydraulic cylinder synchronous control method and system for controlling synchronous action of multiple hydraulic cylinders |
| CN111102257B (en) * | 2018-10-29 | 2021-04-27 | 株洲中车时代电气股份有限公司 | Hydraulic cylinder synchronous control method and system for controlling synchronous action of multiple hydraulic cylinders |
| CN110407101A (en) * | 2019-07-25 | 2019-11-05 | 上海振华重工(集团)股份有限公司 | A kind of straddle carrier is to the synchronous double hydraulic system of case and its synchronous method |
| CN110744538A (en) * | 2019-09-12 | 2020-02-04 | 四川宏华电气有限责任公司 | Hydraulic position synchronous control method applied to petroleum machinery |
| CN111550472A (en) * | 2019-12-30 | 2020-08-18 | 福建工程学院 | Distributed pump-controlled adjacent deviation coupling neural network PID hydraulic climbing formwork jacking system |
| CN111550472B (en) * | 2019-12-30 | 2022-04-12 | 福建工程学院 | Distributed pump-controlled adjacent deviation coupling neural network PID hydraulic climbing formwork jacking system |
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