CN107052211B - The demoulding control system and control method of isothermal forging hydropress - Google Patents
The demoulding control system and control method of isothermal forging hydropress Download PDFInfo
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- CN107052211B CN107052211B CN201710282793.4A CN201710282793A CN107052211B CN 107052211 B CN107052211 B CN 107052211B CN 201710282793 A CN201710282793 A CN 201710282793A CN 107052211 B CN107052211 B CN 107052211B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/10—Drives for forging presses
- B21J9/20—Control devices specially adapted to forging presses not restricted to one of the preceding subgroups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/14—Ejecting devices
Abstract
The invention discloses the demoulding control systems and control method of a kind of isothermal forging hydropress, including：Slider displacement sensor, lower dumping cylinder displacement sensor, loading and unloading material cylinder displacement sensor, sliding block ratio pick-and-place components, sliding block proportional servo valve, lower dumping cylinder proportional servo valve, loading and unloading material cylinder proportional servo valve, proportioning pump, constant displacement pump, programmable controller, for reading slide position data and calculating sliding block real-time speed, lower dumping cylinder position data simultaneously calculates real-time speed, loading and unloading material cylinder position data simultaneously calculate real-time speed, the oil extraction uninterrupted and control sliding block proportional servo valve of control output sliding block ratio pick-and-place components, the fuel supply flow rate size of lower dumping cylinder proportional servo valve and loading and unloading material cylinder proportional servo valve.After the present invention calculates sliding block real-time speed by displacement sensor data according to programmable controller, operation export ratio pick-and-place components oil drain quantity and proportional servo valve fuel delivery are so that demoulding control requires at a slow speed after reaching the compacting required in isothermal forging hydropress.
Description
Technical field
The present invention relates to isothermal forging hydropress technical fields, more particularly to a kind of demoulding control of isothermal forging hydropress
System and control method processed.
Background technique
Isothermal forging hydropress is the difficult-to-deformation materials forging such as titanium alloy, high temperature alloy necessary to production aerospace industry
Infrastructure device, therefore isothermal forging hydropress has vast market prospect, wants to the auxiliary movement of isothermal forging hydropress
Also higher and higher, traditional hydraulic forging press stripping action is asked to mostly use the open-loop control method that can not be set greatly, with number
Change and the extensive use of flexible control technology, the stripping action of isothermal forging hydropress more and more introduce automation control
Method, to better meet the market demand, designing a set of reliable and stable workpiece demoulding control method is particularly important.
Summary of the invention
The technical problem to be solved by the present invention is to：The demoulding control system and controlling party of a kind of isothermal forging hydropress are provided
Method.After the present invention calculates sliding block real-time speed by displacement sensor data according to programmable controller, operation exports sliding block ratio
Example pick-and-place components oil drain quantity and proportional servo valve fuel delivery are to reach backhaul at a slow speed after the compacting required in isothermal forging hydropress
Speed control requirement.
The present invention is adopted the technical scheme that solve technical problem present in well-known technique：
A kind of demoulding control system of isothermal forging hydropress, includes at least：
Slider displacement sensor, for acquiring slide position data；
Lower dumping cylinder displacement sensor, for acquiring lower dumping cylinder position data；
Loading and unloading material cylinder displacement sensor, for acquiring loading and unloading material cylinder position data；
Sliding block ratio pick-and-place components are used for the oil extraction of master cylinder epicoele；
Sliding block proportional servo valve makes slide block movement for regulating and controlling master cylinder cavity of resorption oil inlet quantity；
Lower dumping cylinder proportional servo valve, the oil liquid for regulating and controlling lower dumping cylinder move lower dumping cylinder；
Loading and unloading material cylinder proportional servo valve, the oil liquid for regulating and controlling loading and unloading material cylinder move loading and unloading material cylinder；
Proportioning pump provides power for the movement in demoulding；
Constant displacement pump provides power for lower dumping cylinder；
Programmable controller, for discharging cylinder position under reading slide position data and calculating sliding block real-time speed, read
Data simultaneously calculate real-time speed, read loading and unloading material cylinder position data and calculate real-time speed, control output sliding block ratio pick-and-place components
Oil extraction uninterrupted and control sliding block proportional servo valve, lower dumping cylinder proportional servo valve and loading and unloading material cylinder proportional servo valve confession
Oil stream amount size；
Wherein：Input port and slider displacement sensor, the loading and unloading material cylinder displacement sensor, lower discharging of programmable controller
Cylinder displacement sensor is electrically connected, the output port and sliding block proportional servo valve, loading and unloading material cylinder proportional servo of programmable controller
Valve, lower dumping cylinder proportional servo valve are electrically connected；The output port of programmable controller is electrically connected with proportional servo valve terminal.
A kind of control method of the demoulding control system of isothermal forging hydropress includes at least following steps：
Step 1: entering demoulding backhaul action stage, programmable controller after the completion of isothermal forging hydropress compacting movement
According to the opening speed value of setting, the oil extraction flow value of sliding block ratio pick-and-place components is exported according to operation, and sliding block is exported according to operation
The fuel supply flow rate value of proportional servo valve, while reading slide position data and calculating sliding block real-time speed, pass through PID closed-loop control
The fuel delivery of the real-time export ratio servo valve of algorithm after PID control backhaul a distance, stops after sliding block quick return；
Step 2: according to lower dumping cylinder fast demoulding speed v01 is arranged, programmable controller is opened automatically by length velocity relation
Open constant displacement pump and matching ratio pump and lower dumping cylinder proportional servo valve opening, by PID arithmetic control export ratio pump discharge with
Track the speed；
Step 3: according to the lower dumping cylinder of setting, stripping rate v02, programmable controller export ratio pump a perseverance at a slow speed
Constant flow, is supplied to lower dumping cylinder proportional servo valve, and programmable controller calculates reality according to the lower discharge position data of reading
Shi Sudu v simultaneously exports lower dumping cylinder proportional servo valve flow by PID arithmetic control to track the speed；
Step 4: being hastened fastly stripping rate v03 according to setting loading and unloading material cylinder, programmable controller is automatic by length velocity relation
Matching ratio pumps initial openings, controls export ratio pump discharge by PID arithmetic to track the speed；
Step 5: according to setting loading and unloading material cylinder, fast stripping rate v04, programmable controller export ratio pump a perseverance at a slow speed
Constant flow, is supplied to loading and unloading material cylinder proportional servo valve, and programmable controller calculates reality according to the loading and unloading material position data of reading
Shi Sudu v simultaneously controls output loading and unloading material cylinder proportional servo valve flow by PID arithmetic to track the speed.
Further：In the sliding block demoulding return stroke, sliding block ratio pick-and-place components oil drain quantity is given according to setting opening speed
It is fixed, the control of sliding block ratio pick-and-place components fuel delivery real-time closed-loop.
Further：The sliding block demoulding opening speed adjustable range is 0.5~5mm/s, fuel feeding sliding block proportional servo
Valve is two, and setting speed is one of when being 0.5~4mm/s to open work, two when setting speed is 4~5mm/s speed
Valve works at the same time.
Further：The lower dumping cylinder setting speed is in the section 0.2~5mm/s, according to formula a=v × S/Q；Wherein：
A is proportioning pump opening, and v is setting speed, and Q is proportioning pump rated output flow, and S is oil cylinder area；Calculate the single ratio of starting
Example pump show that hydraulic die cushion speed v- proportioning pump opening a relationship f1 carries out closed-loop control, while being exported down according to programmable controller
Dumping cylinder proportional servo valve opens K；For lower dumping cylinder setting speed in the section 5~15mm/s, programmable controller starts one automatically
A constant displacement pump and a proportioning pump, then a relationship f2 that will be open according to lower dumping cylinder speed v- proportioning pump carry out closed-loop control, simultaneously
Lower dumping cylinder proportional servo valve opening K is exported according to programmable controller；Lower dumping cylinder setting speed is in the section 15~25mm/s
Interior, program starts two constant displacement pumps and a proportioning pump automatically and is carried out according to lower dumping cylinder speed v- proportioning pump opening a relationship f3
Closed-loop control, while lower dumping cylinder proportional servo valve opening K is exported according to programmable controller.
Further：For the loading and unloading material cylinder setting stripping rate v in the section 0.2~2mm/s, programmable controller exports ratio
Example one constant flow rate of pump, the flow of this proportioning pump is supplied to loading and unloading material cylinder proportional servo valve, before programmable controller reads valve
The data of pressure p 1 and downstream pressure p2, according to formulaWherein, K is openings of sizes, and a is that valve is special
Property coefficient, for p2-p1 to be poor with downstream pressure before valve, v is setting speed, and S is the area of loading and unloading material cylinder；Calculate loading and unloading material cylinder ratio
Example servo valve provides theoretically dumping cylinder proportional servo valve opinion opening K1, show that loading and unloading material cylinder ratio is watched using pid control algorithm
The fine tuning amount of opening K2 of valve is taken, final output gives loading and unloading material cylinder proportional servo valve openings of sizes K=K1+K2.
The invention has the advantages and positive effects that：
One, sliding block, lower dumping cylinder and loading and unloading material cylinder used in the workpiece demoulding of isothermal forging hydropress are all made of soft
Property control method, it is therefore prevented that damage of the workpiece stripping action to grinding tool and workpiece；Two, the workpiece demoulding of isothermal forging hydropress
In used sliding block using first at a slow speed after quick acting, lower dumping cylinder and loading and unloading material cylinder be all made of first quickly after at a slow speed dynamic
Make, improves the efficiency of stripping action；Three, the controlled device of stripping action is all made of proportioning pump or proportional servo valve etc. and executes member
Part closed-loop control improves the stability and accuracy of control system.
Detailed description of the invention
Fig. 1 is the circuit block diagram of the preferred embodiment of the present invention；
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows：
Referring to Fig. 1, a kind of demoulding control system of isothermal forging hydropress, it is provided on the isothermal forging hydropress
Programmable controller for speed control；Demoulding control system includes：
Slider displacement sensor, for acquiring slide position data；
Lower dumping cylinder displacement sensor, for acquiring lower dumping cylinder position data；
Loading and unloading material cylinder displacement sensor, for acquiring loading and unloading material cylinder position data；
Sliding block ratio pick-and-place components are used for the oil extraction of master cylinder epicoele；
Sliding block proportional servo valve makes slide block movement for regulating and controlling master cylinder cavity of resorption oil inlet quantity；
Lower dumping cylinder proportional servo valve, the oil liquid for regulating and controlling lower dumping cylinder move lower dumping cylinder；
Loading and unloading material cylinder proportional servo valve, the oil liquid for regulating and controlling loading and unloading material cylinder move loading and unloading material cylinder；
Proportioning pump provides power for the movement in demoulding；
Constant displacement pump provides power for lower dumping cylinder；
Programmable controller, for discharging cylinder position under reading slide position data and calculating sliding block real-time speed, read
Data simultaneously calculate real-time speed, read loading and unloading material cylinder position data and calculate real-time speed, control output sliding block ratio pick-and-place components
Oil extraction uninterrupted and control sliding block proportional servo valve, lower dumping cylinder proportional servo valve and loading and unloading material cylinder proportional servo valve confession
Oil stream amount size.
The control method is：
Step 1: entering demoulding backhaul action stage, programmable controller after the completion of isothermal forging hydropress compacting movement
According to the opening speed value of setting, the oil extraction flow value of sliding block ratio pick-and-place components is exported according to operation, and sliding block is exported according to operation
The fuel supply flow rate value of proportional servo valve, while reading slide position data and calculating sliding block real-time speed, pass through PID closed-loop control
The fuel delivery of the real-time export ratio servo valve of algorithm after PID control backhaul a distance, stops after sliding block quick return；
Step 2: hastening fastly stripping rate v01 according to lower dumping cylinder is arranged, programmable controller is automatic by length velocity relation
It opens constant displacement pump and matching ratio pump and lower dumping cylinder proportional servo valve is open, pass through PID arithmetic and control export ratio pump discharge
To track the speed；
Step 3: according to the lower dumping cylinder of setting, stripping rate v02, programmable controller export ratio pump a perseverance at a slow speed
Constant flow, is supplied to lower dumping cylinder proportional servo valve, and programmable controller calculates reality according to the lower discharge position data of reading
Shi Sudu v simultaneously exports lower dumping cylinder proportional servo valve flow by PID arithmetic control to track the speed；
Step 4: being hastened fastly stripping rate v03 according to setting loading and unloading material cylinder, programmable controller is automatic by length velocity relation
Matching ratio pumps initial openings, controls export ratio pump discharge by PID arithmetic to track the speed；
Step 5: according to setting loading and unloading material cylinder, fast stripping rate v04, programmable controller export ratio pump a perseverance at a slow speed
Constant flow, is supplied to loading and unloading material cylinder proportional servo valve, and programmable controller calculates reality according to the loading and unloading material position data of reading
Shi Sudu v simultaneously controls output loading and unloading material cylinder proportional servo valve flow by PID arithmetic to track the speed.
Wherein：Input port and slider displacement sensor, the loading and unloading material cylinder displacement sensor, lower discharging of programmable controller
Cylinder displacement sensor is electrically connected, the output port and sliding block proportional servo valve, loading and unloading material cylinder proportional servo of programmable controller
Valve, lower dumping cylinder proportional servo valve are electrically connected；The output port of programmable controller is electrically connected with proportional servo valve terminal.
Preferably, in the knockout course, in the sliding block demoulding return stroke, sliding block ratio pick-and-place components oil extraction
Amount is given according to setting opening speed, the control of sliding block ratio pick-and-place components fuel delivery real-time closed-loop.The sliding block demoulding backhaul speed
Degree adjustable range is 0.5~5mm/s, and fuel feeding sliding block proportional servo valve is two, when setting speed is 0.5~4mm/s wherein
One unlatching work, two valves work at the same time when setting speed is 4~5mm/s speed.The loading and unloading material cylinder setting demoulding speed
V is spent in the section 0.2~2mm/s, and programmable controller export ratio pumps a constant flow rate, and the flow of this proportioning pump is supplied to
Loading and unloading material cylinder proportional servo valve, programmable controller reads the data of upstream pressure p1 and downstream pressure p2, according to formula(wherein, K is openings of sizes, and a is valve characteristic coefficient, and p2-p1 is, v poor with downstream pressure before valve
To be arranged speed, S for loading and unloading material cylinder area) calculate loading and unloading material cylinder proportional servo valve theoretically dumping cylinder proportional servo be provided
Valve opening K1, the fine tuning amount of opening K2 of loading and unloading material cylinder proportional servo valve is obtained using pid control algorithm, final output is to loading and unloading material
Cylinder proportional servo valve openings of sizes K=K1+K2.
The embodiments of the present invention have been described in detail above, but content is only the preferred embodiment of the present invention,
It should not be considered as limiting the scope of the invention.Any changes and modifications in accordance with the scope of the present application,
It should still be within the scope of the patent of the present invention.
Claims (6)
1. a kind of demoulding control system of isothermal forging hydropress, it is characterised in that：It includes at least：
Slider displacement sensor, for acquiring slide position data；
Lower dumping cylinder displacement sensor, for acquiring lower dumping cylinder position data；
Loading and unloading material cylinder displacement sensor, for acquiring loading and unloading material cylinder position data；
Sliding block ratio pick-and-place components are used for the oil extraction of master cylinder epicoele；
Sliding block proportional servo valve makes slide block movement for regulating and controlling master cylinder cavity of resorption oil inlet quantity；
Lower dumping cylinder proportional servo valve, the oil liquid for regulating and controlling lower dumping cylinder move lower dumping cylinder；
Loading and unloading material cylinder proportional servo valve, the oil liquid for regulating and controlling loading and unloading material cylinder move loading and unloading material cylinder；
Proportioning pump provides power for the movement in demoulding；
Constant displacement pump provides power for lower dumping cylinder；
Programmable controller, for dumping cylinder position data under reading slide position data and calculating sliding block real-time speed, read
And real-time speed is calculated, loading and unloading material cylinder position data are read and is calculated the row of real-time speed, control output sliding block ratio pick-and-place components
Oil stream amount size and control sliding block proportional servo valve, lower dumping cylinder proportional servo valve and loading and unloading material cylinder proportional servo valve are for oil stream
Measure size；
Wherein：The input port and slider displacement sensor of programmable controller, loading and unloading material cylinder displacement sensor, lower dumping cylinder position
Displacement sensor is electrically connected, the output port of programmable controller and sliding block proportional servo valve, loading and unloading material cylinder proportional servo valve, under
Dumping cylinder proportional servo valve is electrically connected；The output port of programmable controller is electrically connected with proportional servo valve terminal.
2. a kind of control method of the demoulding control system of isothermal forging hydropress according to claim 1, feature exist
In：Including at least following steps：
Step 1: isothermal forging hydropress compacting movement after the completion of enter demoulding the backhaul action stage, programmable controller according to
The opening speed value of setting exports the oil extraction flow value of sliding block ratio pick-and-place components according to operation, exports sliding block ratio according to operation
The fuel supply flow rate value of servo valve, while reading slide position data and calculating sliding block real-time speed, pass through PID closed loop control algorithm
The fuel delivery of real-time export ratio servo valve after PID control backhaul a distance, stops after sliding block quick return；
Step 2: it is fixed that programmable controller is automatically turned on by length velocity relation according to lower dumping cylinder fast demoulding speed v01 is arranged
Amount pump and matching ratio pump and lower dumping cylinder proportional servo valve opening control export ratio pump discharge by PID arithmetic to track
The speed；
Step 3: according to the lower dumping cylinder of setting, stripping rate v02, programmable controller export ratio pump a steady flow at a slow speed
Amount, is supplied to lower dumping cylinder proportional servo valve, programmable controller calculates real-time speed according to the lower discharge position data of reading
It spends v and lower dumping cylinder proportional servo valve flow is exported to track the speed by PID arithmetic control；
Step 4: according to setting loading and unloading material cylinder fast demoulding speed v03, programmable controller passes through length velocity relation Auto-matching ratio
Example pump initial openings control export ratio pump discharge by PID arithmetic to track the speed；
Step 5: according to setting loading and unloading material cylinder, stripping rate v04, programmable controller export ratio pump a steady flow at a slow speed
Amount, is supplied to loading and unloading material cylinder proportional servo valve, programmable controller calculates real-time speed according to the loading and unloading material position data of reading
It spends v and output loading and unloading material cylinder proportional servo valve flow is controlled to track the speed by PID arithmetic.
3. the control method of the demoulding control system of isothermal forging hydropress according to claim 2, it is characterised in that：Institute
It states in sliding block demoulding return stroke, sliding block ratio pick-and-place components oil drain quantity is given according to setting opening speed, sliding block ratio pick-and-place components
The control of fuel delivery real-time closed-loop.
4. the control method of the demoulding control system of isothermal forging hydropress according to claim 2, it is characterised in that：Institute
The sliding block demoulding opening speed adjustable range stated is 0.5~5mm/s, and fuel feeding sliding block proportional servo valve is two, and speed is arranged
One of when for 0.5~4mm/s to open work, two valves work at the same time when setting speed is 4~5mm/s speed.
5. the control method of the demoulding control system of isothermal forging hydropress according to claim 2, it is characterised in that：Institute
Lower dumping cylinder setting speed is stated in the section 0.2~5mm/s, according to formula a=v × S/Q；Wherein：A is proportioning pump opening, and v is
Speed is set, and Q is proportioning pump rated output flow, and S is oil cylinder area；The single proportioning pump of starting is calculated, obtains hydraulic die cushion speed
It spends v- proportioning pump opening a relationship f1 and carries out closed-loop control, while lower dumping cylinder proportional servo valve is exported according to programmable controller
Be open K；For lower dumping cylinder setting speed in the section 5~15mm/s, programmable controller starts a constant displacement pump and one automatically
Proportioning pump, then a relationship f2 that will be open according to lower dumping cylinder speed v- proportioning pump carry out closed-loop control, while according to PLC technology
Device exports lower dumping cylinder proportional servo valve opening K；In the section 15~25mm/s, program starts lower dumping cylinder setting speed automatically
Two constant displacement pumps and a proportioning pump carry out closed-loop control, while root according to the lower dumping cylinder speed v- proportioning pump a relationship f3 that is open
Lower dumping cylinder proportional servo valve opening K is exported according to programmable controller.
6. the control method of the demoulding control system of isothermal forging hydropress according to claim 2, it is characterised in that：Institute
Loading and unloading material cylinder setting stripping rate v is stated in the section 0.2~2mm/s, programmable controller export ratio pumps a constant flow rate,
The flow of this proportioning pump is supplied to loading and unloading material cylinder proportional servo valve, and programmable controller reads upstream pressure p1 and downstream pressure p2
Data, according to formulaWherein, K is openings of sizes, and a is valve characteristic coefficient, and p2-p1 is before valve
Poor with downstream pressure, v is setting speed, and S is the area of loading and unloading material cylinder；Loading and unloading material cylinder proportional servo valve is calculated to provide theoretically
Dumping cylinder proportional servo valve opening K1, the fine tuning amount of opening K2 of loading and unloading material cylinder proportional servo valve is obtained using pid control algorithm, most
Loading and unloading material cylinder proportional servo valve openings of sizes K=K1+K2 is given in output eventually.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710282793.4A CN107052211B (en) | 2017-04-26 | 2017-04-26 | The demoulding control system and control method of isothermal forging hydropress |
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| CN201710282793.4A CN107052211B (en) | 2017-04-26 | 2017-04-26 | The demoulding control system and control method of isothermal forging hydropress |
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| CN110259769B (en) * | 2019-05-27 | 2020-09-25 | 天津市天锻压力机有限公司 | Electro-hydraulic control system of 3000T liquid die forging hydraulic press and forming process |
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| JP2566191B2 (en) * | 1993-07-05 | 1996-12-25 | 中小企業事業団 | Forging condition measuring device of forging machine |
| CN101537469A (en) * | 2009-04-15 | 2009-09-23 | 中南大学 | High-precision synchronizing device for forging moving beam of hydraulic press |
| CN103398035A (en) * | 2013-08-12 | 2013-11-20 | 华电重工股份有限公司 | Multi-platform multi-cylinder-synergy automatic leveling system |
| CN105436378A (en) * | 2014-09-03 | 2016-03-30 | 天津市天锻压力机有限公司 | Low speed control system for isothermal thermal forming hydraulic machine |
| CN106180522A (en) * | 2016-09-14 | 2016-12-07 | 中国兵器工业第五九研究所 | A kind of servo upsetting extrusion Apparatus and method for |
-
2017
- 2017-04-26 CN CN201710282793.4A patent/CN107052211B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2566191B2 (en) * | 1993-07-05 | 1996-12-25 | 中小企業事業団 | Forging condition measuring device of forging machine |
| CN101537469A (en) * | 2009-04-15 | 2009-09-23 | 中南大学 | High-precision synchronizing device for forging moving beam of hydraulic press |
| CN103398035A (en) * | 2013-08-12 | 2013-11-20 | 华电重工股份有限公司 | Multi-platform multi-cylinder-synergy automatic leveling system |
| CN105436378A (en) * | 2014-09-03 | 2016-03-30 | 天津市天锻压力机有限公司 | Low speed control system for isothermal thermal forming hydraulic machine |
| CN106180522A (en) * | 2016-09-14 | 2016-12-07 | 中国兵器工业第五九研究所 | A kind of servo upsetting extrusion Apparatus and method for |
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