CN107263890A - Torque leveling control method and levelling device for composite press - Google Patents
Torque leveling control method and levelling device for composite press Download PDFInfo
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Abstract
The present invention relates to the torque leveling control method and levelling device for composite press, the control method includes four leveling hydraulic cylinders being vertically arranged in below sliding block corner, the target leveling power output for controlling each leveling hydraulic cylinder by Sliding mode variable structure control algorithm is acted on sliding block, to realize the accurate degree control to sliding block；Low to solve to exist in high speed leveling system leveling efficiency, leveling precision is not high and the problems such as not strong antijamming capability.Simultaneously in the quick pressing process of press, by designing the Optimal Sliding Mode Control algorithm based on hyperbolic secant function improved reaching law, acted on the target output leveling power for obtaining optimal on sliding block, make sliding block fast and stable as far as possible realizes level control, improve during leveling, leveling system has larger impact and vibration to master cylinder, improves the stability and leveling precision of system.
Description
Technical field
The present invention relates to a kind of Passive Torque leveling control method, the more particularly to torque for composite press is adjusted
Flat control method and levelling device.
Background technology
Composite press is to manufacture one of important equipment of advanced composite material (ACM) product, the advantage is that automaticity
By force, technology is simple, formed precision is high, Forming Quality good, one-shot forming can be achieved and can continuously suppress, and widely should
For high-technology fields such as aircraft, space flight, submarine, automobiles.But during hydraulic press is compressing, because master cylinder is with returning
The pressure distribution of journey cylinder is uneven, the difference of the shape of composite product and temperature, causes system to have stronger unbalance loading characteristic,
Unbalance loading as caused by uneven above-mentioned reason, will cause sliding block run-off the straight, so as to influence the precision of composite product very
To mold damage.
To ensure product precision and protection mould, it is contemplated that toppling caused by master cylinder, kicker cylinder and composite
Influence of the torque to whole press system, means the most frequently used at present are design four-corner leveling systems to balance tilting moment.Its
Design and improvement are made up of following two aspects：On the one hand it is hydraulic system aspect, in terms of being on the other hand control algolithm.(1) liquid
Press system aspects：The quick level control (referenced patent of sliding block is realized by active leveling or passive type leveling
200910070144.3、201010243672.7、201110183255.2)；(2) in terms of algorithm optimization:Using different control
Strategy synchronizes position control (referenced patent 200910190950.4,201110182802.5,201210374508.9)；Or
Fuzzy control method is servo-actuated using MIMO to be combined with face leveling method, realizes that multiple spot decouples automatic leveling (referenced patent
200810055292.3)；Or high-precision control (referenced patent is realized using the control algolithm of leveling speed governing two close cycles
201110278650.9).Existing Patent design contributes to the application requirement of the unbalance loading characteristic of balance system, but still suffers from following one
It is a little not enough, it is mainly shown as：
(1) in terms of existing hydraulic system, active leveling mode, although the energy of consumption is small, but it is installed more
Complexity, and during high speed leveling, it is more difficult to control.Although passive type leveling system installs simple, to the fortune of sliding block
It is dynamic to play the role of obstruction so that the leveling of system is inefficient.
(2) existing leveling control method, most of control strategy is used with the flat of the displacement of four leveling hydraulic cylinders
Average is imaginary axis, and four leveling hydraulic cylinders follow its imaginary axis, to realize that four leveling hydraulic cylinders carry out leveling to sliding block, though
Automatic leveling can be so carried out, but accurate leveling power output can not be obtained, its response speed and the more difficult satisfaction of leveling efficiency
The requirement of fast leveling.
(3) on algorithm improvement, existing leveling control method is more to track the same of imaginary axis by each leveling hydraulic cylinder
Step puts pid control algorithm and carries out leveling control.Because system has multi-input multi-output system, coupled system, overdriving is
System characteristic, causes the control parameter of PID controller to adjust difficult, and be difficult to ensure that under fast leveling operating mode with high-precision
It is required that.For some modified hydrothermal process, although consider system performance in controller design, it disclosure satisfy that the leveling of system will
Ask, but control algolithm is complicated, it is more difficult in engineering practice that its algorithm is applied to.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention is provided to the torque leveling control method and tune of composite press
Leveling device, low to solve to exist in high speed leveling system leveling efficiency, leveling precision is not high and antijamming capability is not strong etc. asks
Topic.Simultaneously in the quick pressing process of press, by designing the Optimal Sliding Mode Control based on hyperbolic secant function improved reaching law
Algorithm, is acted on sliding block, make sliding block fast and stable as far as possible realizes level control with the target output leveling power for obtaining optimal
System, improves during leveling, and leveling system has larger impact and vibration to master cylinder, improves the stability and leveling essence of system
Degree.
Technical scheme is as follows：
For the torque leveling control method of composite press, leveling hydraulic pressure is vertically arranged respectively below sliding block corner
Cylinder；Including it is following sequentially carry out the step of：
Step 1：When leveling starts, the shift value of four leveling hydraulic cylinders is gathered respectively；
Step 2：Displacement signal progress is handled to the displacement difference and speed difference for obtaining diagonal leveling hydraulic cylinder；
Step 3：Using the displacement difference and speed difference in step 2 as the input of Sliding mode variable structure control algorithm, obtain diagonal
The difference of the target leveling power of leveling hydraulic cylinder；
Step 4：According to optimal power allocation algorithm, the target power output of four leveling hydraulic cylinders is obtained respectively；
Step 5：Repeat step 2 arrives the process of step 4, by carrying out the adjustment of m times to sliding block, until reaching horizontal accuracy
Requirement.
Wherein, an imaginary axis is founded first before step 1, the imaginary axis is being averaged for four leveling hydraulic cylinder displacements
Value；Four leveling hydraulic cylinders track the imaginary axis respectively.
Wherein, a determining program is set in steps of 5, i.e. the difference of the displacement of each leveling hydraulic cylinder and the imaginary axis exists
When within certain limit, then automatic leveling terminates.
Wherein, in the step 3, closed by the geometry between the torque equilibrium equation of sliding block, four leveling hydraulic cylinders
System and kinematical equation set up the mathematical modeling of sliding block and are converted into state space equation, in conjunction with imaginary axis, design
The Sliding mode variable structure control algorithm.
Wherein, the design of the Sliding Mode Variable Structure System includes the design and sliding mode control law of sliding-mode surface
Design.
Wherein, Optimal Sliding Mode face is s1=x1+a·x3、s2=x2+b·x4, wherein, a, b value determine s1And s2's
Rate of convergence；
s1：Sliding-mode surface 1；
s2：Sliding-mode surface 2；
a：The convergence coefficient of sliding-mode surface 1；
b：The convergence coefficient of sliding-mode surface 1；
x1：The displacement difference of first leveling hydraulic cylinder and the 3rd leveling hydraulic cylinder；
x2：The displacement difference of second leveling hydraulic cylinder and the 4th leveling hydraulic cylinder；
x3：The speed difference of first leveling hydraulic cylinder and the 3rd leveling hydraulic cylinder；
x4：The speed difference of second leveling hydraulic cylinder and the 4th leveling hydraulic cylinder.
Wherein, the improved reaching law of the sliding mode control law is
Wherein, k1、k2Value determine convergence sliding-mode surface degree；
k1：Reaching Law coefficient；k2：Reaching Law coefficient；s(t)：Sliding-mode surface.
Wherein, the process of the optimal power allocation algorithm described in step 4 is：The target leveling power output of diagonal leveling hydraulic cylinder
Among, it is d to have a target leveling power output all the time, compared with the target leveling power output d of the leveling hydraulic cylinder of Small object power output,
The target leveling power output of the leveling hydraulic cylinder of larger target power output is d and the diagonal leveling hydraulic cylinder target output leveling
The sum of the difference of power.
Wherein, judge whether sliding block reaches leveling position before step 1, if not reaching leveling start bit, four tune
Flat hydraulic cylinder acts as position-force control with sliding block one；When sliding block reaches leveling position, four leveling hydraulic cylinders pass through defeated
Go out different leveling masterpiece leveling controls.
Wherein, the mode of four leveling hydraulic cylinder tracking imaginary axis is to make the side of four leveling hydraulic cylinders and virtual axial displacement
Difference becomes small, i.e., the displacement difference of diagonal leveling hydraulic cylinder rapidly converges to zero.
The present invention has the advantages that：
1st, the present invention is carried out using the sliding mode variable structure control method based on hyperbolic secant function improved reaching law to sliding block
Level is controlled, and effectively prevent in leveling control, leveling system has larger impact and vibration to slide block movement, is improved simultaneously
The response speed and leveling precision of system.The Design of Structure Transformation Controlling System for Sliding Modular process is primarily based on slip bocks system and sets up mathematical modulo
Type is simultaneously converted to state space equation.Decoupling matrices conversion is carried out to multi-input multi-output system, so as to obtain Decoupled Model, so
The design that optimum control carries out Optimal Sliding Mode face is combined afterwards so that system has good suppression to Parameter Perturbation and system interference
Effect, while improving traditional Reaching Law, design is based on the improved Reaching Law of hyperbolic secant function, can weaken system chatter, strengthens
The adaptability of algorithm, can carry out level control and can to unknown disturbances and parameter with faster response speed to sliding block
Perturbation has good inhibiting effect, improves the robustness of system.
2nd, the present invention is used by the displacement difference and speed difference of each leveling hydraulic cylinder in the way of controller input, effectively
Avoid and sliding block is directly measured around the inclination angle of x-axis and the inclination angle around y-axis by obliquity sensor, simplify mounted angle sensor
Mechanical structure.Acted on the difference of the leveling power output of each diagonal hydraulic cylinder on sliding block, so that sliding block carries out level control
System, effectively avoids the influence that the steady-state error of each leveling hydraulic cylinder output leveling power is controlled sliding block level.Especially relate to
And to during high speed leveling, leveling cylinder pressure is controlled due to the shadow of the characteristics such as the dead band of its system, stagnant ring, leakage
Ring, cause it can not realize accurate pressure closed loop control, if there is identical steady-state error simultaneously in diagonal cylinder, its reality
Control input does not change, and remains to reach higher leveling precision, improves system suitability.
3rd, the present invention is using the method for the Stress control of four leveling hydraulic cylinders, Stress control fast response time, so as to carry
The high response speed of system.Meanwhile, optimal power distribution principle is combined by the method for torque leveling, not only effectively solved
The problem of overdriving of four-corner leveling, and can optimization each leveling hydraulic cylinder target output leveling power, and then avoid and be
System larger impact and vibration, improve the service life of press.
Brief description of the drawings
Fig. 1 is the schematic diagram of levelling device of the present invention；
Fig. 2 is the Design of Structure Transformation Controlling System for Sliding Modular method schematic diagram of the present invention；
Operational flow diagram of Fig. 3 present invention for the torque leveling control method of composite press；
Fig. 4 is the schematic diagram of controller of the present invention and each sensor.
Reference is expressed as in figure：
1- master cylinders, the displacement transducers of 11- first, 2- sliding blocks, 3- kicker cylinders, 31- first pressures sensor, 41- seconds
Displacement sensor, 42- second pressures sensor, 5- controllers, 51- data acquisition modules, 52- data processing modules, 521- data
Memory module, 522- comparison modules, 523- computing modules, 53- data outputting modules, 54- regulation and control module, 6- the first leveling hydraulic pressure
Cylinder, 7- the second leveling hydraulic cylinders, the leveling hydraulic cylinders of 8- the 3rd, the leveling hydraulic cylinders of 9- the 4th.
Embodiment
The present invention will be described in detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 and Fig. 4 characterize a kind of composite press levelling device, including set gradually from top to bottom master cylinder 1, be used for
Sliding block 2, kicker cylinder 3 and the controller 5 of installation mold；The hydraulic stem of the master cylinder 1 is fixed on the upper surface of sliding block 2, described
The hydraulic stem of kicker cylinder 3 is fixed on the lower surface of sliding block 2；The four corners below of sliding block 2 is also respectively provided with leveling hydraulic cylinder；Institute
Stating levelling gear also includes the first displacement transducer 11 of the collection displacement signal of master cylinder 1, gathers the first of the pressure signal of kicker cylinder 3
Pressure sensor 31 and the second displacement sensor 41 for gathering leveling hydraulic cylinder displacement signal；The controller 5 is included successively
Data acquisition module 51, data processing module 52, data outputting module 53 and the regulation and control module 54 of electric signal connection；First
The signal of displacement sensor 11, first pressure sensor 31 and second displacement sensor 41 is transmitted after being gathered through data acquisition module 51
The target power output of leveling hydraulic cylinder is obtained to the processing of data processing module 52, target exports force signal through data outputting module 53
Transmit to regulation and control module 54；Regulate and control the power output that module 54 adjusts leveling hydraulic cylinder according to target power output.
Wherein, the data processing module 52 includes data memory module 521, the state space equation progress with sliding block 2
The comparison module 522 and calculating leveling hydraulic cylinder that compare export the computing module 523 of leveling power.
Wherein, the leveling hydraulic cylinder is double acting list rod cavate hydraulic cylinder.
Wherein, the leveling hydraulic cylinder is set in an oil pump (not shown) fuel feeding, the leveling hydraulic cylinder respectively
There is second pressure sensor 42；The second pressure sensor 42 is connected with the electric signal of data acquisition module 51.
Particular flow sheet is as follows：
Step 1：Signal Regulation master cylinder 1 He of the controller 5 according to the first displacement transducer 11 and first pressure sensor 31
The pressure of kicker cylinder 3, by judging whether sliding block 2 reaches leveling position, if not reaching leveling start bit, the first leveling hydraulic pressure
Cylinder 6, the second leveling hydraulic cylinder 7, the 3rd leveling hydraulic cylinder 8, the 4th leveling hydraulic cylinder 9 act as position-force control with sliding block one.
When sliding block 2 reaches leveling position, the leveling masterpiece leveling control different by exporting of four leveling hydraulic cylinders.
Step 2：When sliding block reaches leveling position, system can pass through each leveling hydraulic cylinder of the multilevel iudge of comparison module 522
Leveling precision whether meet requirement, required if leveling precision is met, i.e., each leveling hydraulic cylinder in four leveling hydraulic cylinders
And the difference of the displacement of imaginary axis is within c mm, the leveling power output that four-corner leveling control system can then keep original continues with master
Cylinder down does accurate position-force control together.If leveling precision can not meet requirement, four-corner leveling control system passes through
The displacement signal input computing module 523 that second displacement sensor 41 gathers four leveling hydraulic cylinders is calculated.
Step 3：The calculating process of computing module 523 is as follows；Four leveling liquid are obtained by displacement versus time derived function
The instantaneous velocity of cylinder pressure, is handled by program and obtains the displacement difference and speed difference of each diagonal cylinder, i.e. the first leveling hydraulic cylinder 6 and the
The displacement difference x of three leveling hydraulic cylinders 81With speed difference x3, the second leveling hydraulic cylinder 7 and the 4th leveling hydraulic cylinder 9 displacement difference x2With
Speed difference x4；The displacement difference and speed difference of each diagonal leveling hydraulic cylinder are obtained as the input of Sliding mode variable structure control algorithm, meter
The difference for the target leveling power output that can obtain required each diagonal leveling hydraulic cylinder is calculated, i.e. the target leveling of the first leveling hydraulic cylinder 6 is defeated
Exert oneself and the target leveling power output of the 3rd leveling hydraulic cylinder 8 difference u1, the target leveling power output of the second leveling hydraulic cylinder 7 and the 4th
The difference u of the target leveling power output of leveling hydraulic cylinder 92。
Step 4：By the difference of the target leveling power output of each diagonal leveling hydraulic cylinder obtained by step 3, by four cylinder leveling power point
The target leveling power output of each leveling hydraulic cylinder, i.e. the target leveling power output F of the first leveling hydraulic cylinder 6 can be obtained with algorithm1,
The target leveling power output F of two leveling hydraulic cylinder 72, the target leveling power output F of the 3rd leveling hydraulic cylinder 83, the 4th leveling hydraulic cylinder 9
Target leveling power output F4, in the level control for being acted on sliding block 2, to improve the stationarity and response speed of leveling process
Degree.
Step 5：Judge whether to reach leveling stop bits, if do not reached, repeat step 2 arrives the process of step 4.Instead
It, leveling terminates.
Fig. 2 characterizes a kind of the Design of Structure Transformation Controlling System for Sliding Modular method of the passive type leveling system of multiple-input and multiple-output.
Specific design method is as follows：
Step 1：Mathematical modeling is carried out to sliding block first,Respectively with the inclination angle of x-axis and y-axis；F1、F2、F3、F4
The target output leveling power of respectively four leveling hydraulic cylinders；Jx、JyRespectively rotary inertia of the sliding block around x-axis and y-axis；FpFor
Unknown offset loading force；Four leveling hydraulic cylinders are l apart from the distance of x-axisx；Apart from y-axis apart from ly；Offset loading force is to the distance of x-axis
rx；Offset loading force to y-axis distance be ry.With that can be obtained according to the fixed-axis rotation rule of rigid body：
It can be obtained according to the geometrical relationship of four leveling hydraulic cylinders:
Simultaneous formula (1) and formula (2) can be eliminatedWithWith the speed and displacement of four leveling hydraulic cylinders description can be gone to slide
Block is around x-axis and the error of tilt of y-axis.It can be obtained with reference to kinematical equation：
yiThe displacement of respectively No. i-th leveling hydraulic cylinder；viThe speed of respectively No. i-th leveling hydraulic cylinder；
Simultaneous (1) formula, (2) formula and (3) formula simultaneous can obtain its mathematical modeling, and be translated into diagonal leveling hydraulic cylinder
Displacement difference and speed difference be state variable, using the difference of diagonal leveling hydraulic cylinder target leveling power output for export state space
Equation；
Step 2：Based on the state space equation designed by step 1, Sliding mode variable structure control algorithm is designed.Sliding moding structure
The design of control system is divided into two parts：A part is the design of sliding-mode surface, and another part sets for sliding mode control law
Meter.Specific design process is as follows：
Step 1：Because system has the system performance of multiple-input and multiple-output, it is necessary first to which state space equation is solved
Coupling computing, i.e. matrixing, obtain corresponding Decoupled Model.Model based on decoupling, designs optimal with reference to optimal control theory
Sliding-mode surface, makes identified sliding mode asymptotically stability and with good dynamic quality.Designed Optimal Sliding Mode face is s1
=x1+a·x3、s2=x2+b·x4, wherein, a, b value determine s1And s2Rate of convergence；
s1：Sliding-mode surface 1；
s2：Sliding-mode surface 2；
a：The convergence coefficient of sliding-mode surface 1；
b：The convergence coefficient of sliding-mode surface 1；
x1：The displacement difference of first leveling hydraulic cylinder and the 3rd leveling hydraulic cylinder；
x2：The displacement difference of second leveling hydraulic cylinder and the 4th leveling hydraulic cylinder；
x3：The speed difference of first leveling hydraulic cylinder and the 3rd leveling hydraulic cylinder；
x4：The speed difference of second leveling hydraulic cylinder and the 4th leveling hydraulic cylinder.
Step 2：Devise behind corresponding Optimal Sliding Mode face, it is necessary to design the control law of Sliding mode variable structure control algorithm, i.e.,
Variable Structure Control how is selected to restrain u+And u-, it is met reaching condition, so as to form Fault slip rate on diverter surface.
To ensure that system mode can tend to sliding mode diverter surface with preferable motion state, devise and improved based on hyperbolic secant function
The Sliding mode variable structure control rule of Reaching Law.Improved Reaching Law isIts
In, k1、k2Value determine convergence sliding-mode surface degree；
k1：Reaching Law coefficient；k2：Reaching Law coefficient；s(t)：Sliding-mode surface.
Step 3：The sliding mode control algorithm based on hyperbolic secant function improved reaching law designed by step 2, according to
The displacement difference and speed difference of four leveling hydraulic cylinders are inputted as controller, i.e. x1=y1-y3, x2=y2-y4, x3=v1-v3,x4
=v2-v4, obtain the difference u of the output target leveling power of the first leveling hydraulic cylinder 6 and the 3rd leveling hydraulic cylinder 81With the second leveling liquid
The target of the leveling hydraulic cylinder 9 of cylinder pressure 7 and the 4th exports the difference u of leveling power2, i.e. u1=F1-F3、u2=F2-F4。
Step 4：From step 3, the leveling power output of the first leveling hydraulic cylinder 6 is exported with the leveling of the 3rd leveling hydraulic cylinder 8
The difference u of power1, the difference u of the leveling power output of the second leveling hydraulic cylinder 7 and the target leveling power output of the 4th leveling hydraulic cylinder 92.By most
Among the target leveling power output of excellent allocation algorithm, the first leveling hydraulic cylinder 6 and the 3rd leveling hydraulic cylinder 8, there is a mesh all the time
It is d kN to mark leveling power output, and its diagonal leveling hydraulic cylinder target leveling power output is to export u by designed controller1's
Positive negative judgement, if just, then the target leveling power output F of the 3rd hydraulic cylinder 83=d kN, the target of the first leveling hydraulic cylinder 6
Leveling power output F1=F3+u1, conversely, then first hydraulic cylinder 6 gives target leveling power output F1=d kN, the 3rd leveling hydraulic cylinder 6
Target leveling power output F3=F1-u1；The target leveling power output of second leveling hydraulic cylinder 7 and the 4th leveling hydraulic cylinder 9 it
In, it is d kN to have a target leveling power all the time, and its diagonal leveling hydraulic cylinder target leveling power output is by designed control
Device processed exports u2Positive negative judgement, if just, then the 4th hydraulic cylinder 9 gives target leveling power output F4=d kN, the second leveling liquid
The target leveling power output F of cylinder pressure 72=F4+u1, conversely, then second hydraulic cylinder 7 gives target leveling power output F2=d kN, the 4th
The target leveling power output F of leveling hydraulic cylinder 94=F2-u2.By the target leveling power F of four leveling hydraulic cylinders1、F2、F3、F4Make
For sliding block, the level control of sliding block is realized.
Fig. 3 schematically characterizes the operational flow diagram of the torque leveling control method for composite press.
Particular flow sheet is as follows：
Step 1：First by judging whether sliding block 2 reaches leveling position, if not reaching leveling start bit, the first leveling
Hydraulic cylinder 6, the second leveling hydraulic cylinder 7, the 3rd leveling hydraulic cylinder 8, the 4th leveling hydraulic cylinder 9 act as position closed loop control with sliding block one
System.When sliding block 2 reaches leveling position, the leveling masterpiece leveling control different by exporting of four leveling hydraulic cylinders.
Step 2：When sliding block reaches leveling position, system can judge whether the leveling precision of each leveling hydraulic cylinder meets and want
Ask, required if leveling precision is met, i.e., the difference of the displacement of each leveling hydraulic cylinder and imaginary axis is in c in four leveling hydraulic cylinders
Within mm, four-corner leveling control system can then keep original leveling power output to continue down to do accurate position together with master cylinder
Closed-loop control.If leveling precision can not meet requirement, four-corner leveling control system gathers four leveling by displacement transducer
The displacement signal of hydraulic cylinder, and the instantaneous velocity of four leveling hydraulic cylinders is obtained by displacement versus time derived function, pass through journey
Sequence processing obtains the displacement difference of the displacement difference and speed difference, i.e. the first leveling hydraulic cylinder 6 and the 3rd leveling hydraulic cylinder 8 of each diagonal cylinder
x1With speed difference x3, the second leveling hydraulic cylinder 7 and the 4th leveling hydraulic cylinder 9 displacement difference x2With speed difference x4。
Step 3：The displacement difference and speed difference of each diagonal leveling hydraulic cylinder are obtained as the defeated of Sliding mode variable structure control algorithm
Enter, can be calculated the difference of the target leveling power output of required each diagonal leveling hydraulic cylinder, the i.e. target of the first leveling hydraulic cylinder 6 and adjust
The difference u of flat power output and the target leveling power output of the 3rd leveling hydraulic cylinder 81, the target leveling power output of the second leveling hydraulic cylinder 7 with
The difference u of the target leveling power output of 4th leveling hydraulic cylinder 92。
Step 4：By the difference of the target leveling power output of each diagonal leveling hydraulic cylinder obtained by step 3, by four cylinder leveling power point
The target leveling power output of each leveling hydraulic cylinder, i.e. the target leveling power output F of the first leveling hydraulic cylinder 6 can be obtained with algorithm1,
The target leveling power output F of two leveling hydraulic cylinder 72, the target leveling power output F of the 3rd leveling hydraulic cylinder 83, the 4th leveling hydraulic cylinder 9
Target leveling power output F4, in the level control for being acted on sliding block 2, to improve the stationarity and response speed of leveling process
Degree.
Step 5：Judge whether to reach leveling stop bits, if do not reached, repeat step 2 arrives the process of step 4.Instead
It, leveling terminates.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. for the torque leveling control method of composite press, leveling liquid is vertically arranged respectively below sliding block (2) corner
Cylinder pressure；It is characterized in that：Including it is following sequentially carry out the step of：
Step 1：When leveling starts, the shift value of four leveling hydraulic cylinders is gathered respectively；
Step 2：Displacement signal progress is handled to the displacement difference and speed difference for obtaining diagonal leveling hydraulic cylinder；
Step 3：Using the displacement difference and speed difference in step 2 as the input of Sliding mode variable structure control algorithm, diagonal leveling is obtained
The difference of the target leveling power of hydraulic cylinder；
Step 4：According to optimal power allocation algorithm, the target power output of four leveling hydraulic cylinders is obtained respectively；
Step 5：Repeat step 2 arrives the process of step 4, by carrying out the adjustment of m times to sliding block (2), until reaching horizontal accuracy
Requirement.
2. the torque leveling control method according to claim 1 for composite press, it is characterised in that：In step
An imaginary axis is founded before 1 first, the imaginary axis is the average value of four leveling hydraulic cylinder displacements；Four leveling hydraulic cylinders point
The imaginary axis is not tracked.
3. the torque leveling control method according to claim 2 for composite press, it is characterised in that：In step
One determining program, the i.e. difference of the displacement of each leveling hydraulic cylinder and the imaginary axis are set when within certain limit, then certainly in 5
Dynamic leveling terminates.
4. the torque leveling control method according to claim 3 for composite press, it is characterised in that：Described
In step 3, pass through the geometrical relationship and kinematical equation between the torque equilibrium equation of sliding block (2), four leveling hydraulic cylinders
Set up the mathematical modeling of sliding block (2) and be converted into state space equation, in conjunction with imaginary axis, design the sliding moding structure
Control algolithm.
5. the torque leveling control method according to claim 4 for composite press, it is characterised in that：The cunning
The design of moding structural control system includes the design of sliding-mode surface and the design of sliding mode control law；
Optimal Sliding Mode face is s1=x1+a·x3、s2=x2+b·x4, wherein, a, b value determine s1And s2Rate of convergence；
s1：Sliding-mode surface 1；
s2：Sliding-mode surface 2；
a：The convergence coefficient of sliding-mode surface 1；
b：The convergence coefficient of sliding-mode surface 1；
x1：The displacement difference of first leveling hydraulic cylinder (6) and the 3rd leveling hydraulic cylinder (8)；
x2：The displacement difference of second leveling hydraulic cylinder (7) and the 4th leveling hydraulic cylinder (9)；
x3：The speed difference of first leveling hydraulic cylinder (6) and the 3rd leveling hydraulic cylinder (8)；
x4：The speed difference of second leveling hydraulic cylinder (7) and the 4th leveling hydraulic cylinder (9).
The improved reaching law of the sliding mode control law isWherein,
k1、k2Value determine convergence sliding-mode surface degree；
k1：Reaching Law coefficient；k2：Reaching Law coefficient；s(t)：Sliding-mode surface.
6. the torque leveling control method for composite press according to claim 1 to 5 any claim, its
It is characterised by：The process of optimal power allocation algorithm described in step 4 is：The target leveling power output of diagonal leveling hydraulic cylinder it
In, it is d to have a target leveling power output all the time, compared with the target leveling power output d of the leveling hydraulic cylinder of Small object power output, compared with
The target leveling power output of the leveling hydraulic cylinder of big target power output exports leveling power for d and the diagonal leveling hydraulic cylinder target
Difference sum.
7. the torque leveling control method according to claim 6 for composite press, it is characterised in that：In step
Judge whether sliding block (2) reaches leveling position before 1, if not reaching leveling start bit, four leveling hydraulic cylinders and sliding block (2)
One acts as position-force control；When sliding block (2) reaches leveling position, the leveling different by exporting of four leveling hydraulic cylinders
Masterpiece leveling is controlled.
8. the torque leveling control method according to claim 7 for composite press, it is characterised in that：Four tune
The mode of flat hydraulic cylinder tracking imaginary axis is four leveling hydraulic cylinders and the variance of virtual axial displacement is become small, i.e., diagonal leveling liquid
The displacement difference of cylinder pressure rapidly converges to zero.
9. a kind of composite press levelling device, it is characterised in that：Including set gradually from top to bottom master cylinder (1), be used for
Sliding block (2), kicker cylinder (3) and the controller (5) of installation mold；The hydraulic stem that the master cylinder (1) includes the first master cylinder is fixed
Upper surface in sliding block (2), the hydraulic stem of the kicker cylinder (3) is fixed on the lower surface of sliding block (2)；Below the sliding block (2)
Corner is also respectively provided with leveling hydraulic cylinder；The first displacement that the levelling gear also includes collection master cylinder (1) displacement signal is passed
Sensor (11), the first pressure sensor (31) for gathering kicker cylinder (3) pressure signal and collection leveling hydraulic cylinder displacement signal
Second displacement sensor (41)；The controller (5) include successively the data acquisition module (51) of electric signal connection, at data
Manage module (52), data outputting module (53) and regulation and control module (54)；First displacement transducer (11), first pressure sensor
(31) and second displacement sensor (41) signal through data acquisition module (51) gather after transmit to data processing module (52)
Processing obtains the target power output of leveling hydraulic cylinder, and target exports force signal and transmitted through data outputting module (53) to regulation and control module
(54)；Regulate and control the power output that module (54) adjusts leveling hydraulic cylinder according to target power output.
10. a kind of composite press levelling device as claimed in claim 9, it is characterised in that：The data processing module
(52) comparison module (522) and meter that the state space equation including data memory module (521) and sliding block (2) is compared
Calculate the computing module (523) that leveling hydraulic cylinder exports leveling power.
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