CN108916295A - A kind of accuracy control method of cushion cylinder - Google Patents

A kind of accuracy control method of cushion cylinder Download PDF

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Publication number
CN108916295A
CN108916295A CN201810594884.6A CN201810594884A CN108916295A CN 108916295 A CN108916295 A CN 108916295A CN 201810594884 A CN201810594884 A CN 201810594884A CN 108916295 A CN108916295 A CN 108916295A
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CN
China
Prior art keywords
grade
servo
cylinder
signal
driver
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CN201810594884.6A
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Chinese (zh)
Inventor
侯志岩
杨传国
周驰
万志辉
董新营
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武汉船用机械有限责任公司
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Priority to CN201810594884.6A priority Critical patent/CN108916295A/en
Publication of CN108916295A publication Critical patent/CN108916295A/en

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32Details
    • F16F9/50Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32Details
    • F16F9/34Special valve constructions; Shape or construction of throttling passages
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32Details
    • F16F9/50Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • F16F9/512Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00Purpose; Design features
    • F16F2230/08Sensor arrangement
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00Purpose; Design features
    • F16F2230/18Control arrangements

Abstract

A kind of accuracy control method of cushion cylinder, the signal output end of the high shift microswitch and low-grade microswitch is connect with the signal input part signal of servo-driver, the signal output end of the servo-driver and the control end signal of servo motor connect, the signal output end of the motor encoder of the servo motor is connect with servo-driver signal, the servo-driver is connect with controller signals, and the signal output end signal for the velocity sensor being arranged on the controller and load is connect;Including the first step:Loading speed acquisition and control instruction issue, second step:The rotation of PID control servo motor, third step:Switch feedback control, the 4th step:Complete gear switching.The design speed of not only transferring the files is fast, but also good reliability, precision of transferring the files height.

Description

A kind of accuracy control method of cushion cylinder

Technical field

The present invention relates to a kind of accuracy control methods of cushion cylinder, and it is particularly applicable to accurately control cushion cylinder damping.

Background technique

These necks are installed on lathe, woodworking machinery, rubber manufacturing machinery, steel equipment, injection molding machine, die casting machine, marine worker or ship The hydraulic cylinder with buffer unit is often used in domain, primarily to preventing oil cylinder piston from rapidly moving to end of travel It is damaged it is possible that causing to hit to cylinder body front and rear cover.Certain large-scale winch loads freely falling body in order to prevent leads to winch driving, Winch motor is caused to damage;To design a kind of cushion cylinder of adjusting shift formula, when for the load freely falling body to vary in weight Buffer function is played, to protect winch motor.

It transfers the files according to mechanical mode, on the other hand low efficiency of on the one hand transferring the files increases personnel's load, also needs to match Standby professional transfers the files, and there are no method guarantees for precision of transferring the files.

Summary of the invention

The purpose of the present invention is overcoming the problems, such as that degree of regulation existing in the prior art is low, a kind of degree of regulation is provided The accuracy control method of high cushion cylinder.

In order to achieve the above object, the technical solution of the invention is as follows:

A kind of accuracy control method of cushion cylinder, the end of the cushion cylinder are provided with damper rod, and the one of the damper rod End is connected with the power output shaft of servo motor, and the cylinder damping in the other end and cushion cylinder of the damper rod is adjusted Cylinder is fixedly connected, and the power output shaft of the servo motor is cooperated by damper rod and the transmission of cylinder damping adjustment barrel, described It is provided with piston cylinder in cylinder damping adjustment barrel, the oil cylinder piston being slidably matched with it, the oil are provided in the piston cylinder The inner wall of cylinder damping adjustment barrel is in contact with the outer wall of piston cylinder, the cylinder damping adjustment barrel and piston cylinder rotatable engagement, institute It states and offers multiple outer oilholes in cylinder damping adjustment barrel, multiple interior oilholes, the multiple outer oil are offered on the piston cylinder Hole is correspondingly arranged with multiple interior oilholes;

High-grade limited block and low-grade limited block are arranged on the damper rod, the top grade limited block is pressed with high shift microswitch The button of button transmission cooperation, the low grade limited block and low-grade microswitch, which is driven, to be cooperated;

The signal output end of the high shift microswitch and low-grade microswitch with the signal input part signal of servo-driver Connection, the signal output end of the servo-driver and the control end signal of servo motor connect, the motor of the servo motor The signal output end of encoder is connect with servo-driver signal, and the servo-driver is connect with controller signals, the control The signal output end signal for the velocity sensor being arranged on device processed and load is connect;

The accuracy control method of the cushion cylinder includes the following steps:

The first step:Loading speed acquisition and control instruction issue, and controller is believed with the speed of fixed frequency acquisition velocity sensor Number:When loading speed signal is zero, machine is in suspended state, and controller does not issue control instruction to servo-driver;

When loading speed signal is not zero, machine is in running order, and controller issues control instruction, control to servo-driver The damping size of cushion cylinder processed:Judge whether loading speed is more than or equal to X metre per second (m/s), 3≤X≤5, when loading speed is greater than etc. When X metre per second (m/s), cushion cylinder needs to switch to top grade to increase damping, and the given high-grade rotary angle signal of controller is sent out Give servo-driver;When loading speed is less than X metre per second (m/s), cushion cylinder needs to switch to low grade to reduce damping, control The given low-grade rotary angle signal of device sends it to servo-driver;

Second step:The rotation of PID control servo motor, after servo-driver receives high-grade rotary angle signal, motor is compiled The actual measurement angle value of code device real-time measurement and high-grade rotary angle signal value carry out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, control servo motor output shaft rotation, realizes closed loop feedback control;

After servo-driver receives low-grade rotary angle signal, by the actual measurement angle value of motor encoder real-time measurement with it is low Shelves rotary angle signal value carries out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, control servo motor output shaft rotation Turn, realizes closed loop feedback control;

Third step:Switch feedback control realizes servo motor output shaft rotation by the PID control of second step, works as cushion cylinder When needing to be switched to top grade, servo motor output shaft rotation drives the rotation of cylinder damping adjustment barrel, makes outer oilhole and interior oilhole Positive area reduces to increase cylinder damping, and the high-grade limit being arranged on damper rod is driven when servo motor output shaft rotation Block rotation, when high-grade limited block touches high shift microswitch, high shift microswitch issues signal, servo to servo-driver Driver control servo motor stops operating;

When cushion cylinder needs to be switched to low grade, servo motor output shaft rotation drives the rotation of cylinder damping adjustment barrel, makes outer The positive area of oilhole and interior oilhole increases to reduce cylinder damping, drives on damper rod when servo motor output shaft rotation The low-grade limited block rotation being arranged, when low-grade limited block touches low-grade microswitch, low-grade microswitch is to servo-drive Device issues signal, and servo-driver control servo motor stops operating;

4th step:Gear switching is completed, after high-grade limited block, which touches high shift microswitch, stalls servo motor, acquires motor The actual measurement angle value of encoder and high-grade rotary angle signal value carry out deviation and calculate a, when -1 °≤a≤1 ° of deviation, then high Gear switch is completed, and otherwise servo-driver reports an error to controller, and controller control machine, which stops working, waits malfunction elimination;

After low-grade limited block, which touches low-grade microswitch, stalls servo motor, acquire the actual measurement angle value of motor encoder with Low-grade rotary angle signal value carries out deviation and calculates a, and when -1 °≤a≤1 ° of deviation, then low-grade location switching is completed, and otherwise watches It takes driver to report an error to controller, controller control machine, which stops working, waits malfunction elimination.

Speed decision content X in the first step is 4 metre per second (m/s)s.

Compared with prior art, beneficial effects of the present invention are:

1, use double-closed-loop control in a kind of accuracy control method of cushion cylinder of the present invention, to motor encoder feedback signal into Row sampling, Inner Constitution position ring and speed ring carry out PID control shape using actual measurement angle value and given rotary angle signal value At speed ring, position ring is constituted using the triggering of microswitch, after finally comparing servo motor stalling after microswitch triggering Motor encoder actual measurement angle value and given rotary angle signal value do not judge that whether gear is adjusted in error range It is interior, not only increase the control reliability of the design, and can effective detection error, avoid causing thing because error is excessive Therefore.Therefore, the design control is accurate, high safety and reliability.

2, a kind of accuracy control method of cushion cylinder of the present invention can transfer the files suitable for cushion cylinder at any angle afterwards, fit It is wide with range, there is universality, be conducive to promotion and application.Therefore, the design universality is high, is conducive to promotion and application.

3, a kind of control method of the accuracy control method of cushion cylinder of the present invention is simple, has while guaranteeing reliability Effect improves degree of regulation, and precision of transferring the files height is can be controlled within the scope of ± 0.1 °.And control method is simple, and it is effective to improve It transfers the files efficiency.Therefore the design controls precision height, and speed of transferring the files is fast.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the invention.

Fig. 2 is the sectional view along A-A of Fig. 1.

Fig. 3 is control schematic diagram of the invention.

Fig. 4 is control logic flow chart of the invention.

In figure:Cushion cylinder 1, damper rod 11, cylinder damping adjustment barrel 12, piston cylinder 13, oil cylinder piston 14, outer oilhole 15, interior oilhole 16, servo motor 2, motor encoder 21, servo-driver 3, controller 4, velocity sensor 5, high-grade fine motion are opened Close 6, high-grade limited block 61, low-grade microswitch 7, low-grade limited block 71.

Specific embodiment

Below in conjunction with Detailed description of the invention and specific embodiment, the present invention is described in further detail.

Referring to Fig. 1 to Fig. 3, the end of a kind of accuracy control method of cushion cylinder, the cushion cylinder 1 is provided with damping One end of bar 11, the damper rod 11 is connected with the power output shaft of servo motor 2, the other end of the damper rod 11 with Cylinder damping adjustment barrel 12 in cushion cylinder 1 is fixedly connected, and the power output shaft of the servo motor 2 passes through damper rod 11 It is driven and cooperates with cylinder damping adjustment barrel 12, be provided with piston cylinder 13, the piston cylinder 13 in the cylinder damping adjustment barrel 12 Inside it is provided with the oil cylinder piston 14 being slidably matched with it, the outer wall phase of the inner wall and piston cylinder 13 of the cylinder damping adjustment barrel 12 It contacts, the cylinder damping adjustment barrel 12 and 13 rotatable engagement of piston cylinder, is offered in the cylinder damping adjustment barrel 12 multiple Outer oilhole 15 offers multiple interior oilholes 16 on the piston cylinder 13, and the multiple outer oilhole 15 is corresponding with multiple interior oilholes 16 Setting;

High-grade limited block 61 and low-grade limited block 71, the top grade limited block 61 and high-grade fine motion are arranged on the damper rod 11 The button of switch 6, which is driven, to be cooperated, and the button of the low grade limited block 71 and low-grade microswitch 7 is driven cooperation;

The signal output end of the high shift microswitch 6 and low-grade microswitch 7 is believed with the signal input part of servo-driver 3 Number connection, the signal output end of the servo-driver 3 connect with the control end signal of servo motor 2, the servo motor 2 The signal output end of motor encoder 21 is connect with 3 signal of servo-driver, and the servo-driver 3 connects with 4 signal of controller It connects, the signal output end signal for the velocity sensor 5 being arranged on the controller 4 and load is connect;

The accuracy control method of the cushion cylinder includes the following steps:

The first step:Loading speed acquisition and control instruction issue, and controller 4 is with the speed of fixed frequency acquisition velocity sensor 5 Signal:When loading speed signal is zero, machine is in suspended state, and controller 4 does not issue control to servo-driver 3 and refers to It enables;

When loading speed signal is not zero, machine is in running order, and controller 4 issues control instruction to servo-driver 3, Control the damping size of cushion cylinder:Judge whether loading speed is more than or equal to X metre per second (m/s), 3≤X≤5, when loading speed is greater than When equal to X metre per second (m/s), cushion cylinder needs to switch to top grade to increase damping, and the given high-grade rotary angle signal of controller 4 will It is sent to servo-driver 3;When loading speed be less than X metre per second (m/s) when, cushion cylinder need to switch to low grade reduce damping, The given low-grade rotary angle signal of controller 4 sends it to servo-driver 3;

Second step:The rotation of PID control servo motor, after servo-driver 3 receives high-grade rotary angle signal, motor is compiled The actual measurement angle value of code 21 real-time measurement of device and high-grade rotary angle signal value carry out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, control 2 output shaft of servo motor rotation, realizes closed loop feedback control;

After servo-driver 3 receives low-grade rotary angle signal, by the actual measurement angle value of 21 real-time measurement of motor encoder And low-grade rotary angle signal value carries out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, and control servo motor 2 exports Axis rotation, realizes closed loop feedback control;

Third step:Switch feedback control realizes the rotation of 2 output shaft of servo motor by the PID control of second step, works as cushion cylinder When needing to be switched to top grade, the rotation of 2 output shaft of servo motor drives cylinder damping adjustment barrel 12 to rotate, and makes outer oilhole 15 and interior oil The positive area in hole 16 reduces to increase cylinder damping, drives when the rotation of 2 output shaft of servo motor and is arranged on damper rod 11 High-grade limited block 61 rotate, when high-grade limited block 61 touches high shift microswitch 6, high shift microswitch 6 to servo drive Dynamic device 3 issues signal, and servo-driver 3 controls servo motor 2 and stops operating;

When cushion cylinder needs to be switched to low grade, the rotation of 2 output shaft of servo motor drives cylinder damping adjustment barrel 12 to rotate, and makes The positive area of outer oilhole 15 and interior oilhole 16 increases to reduce cylinder damping, drives when the rotation of 2 output shaft of servo motor The low-grade limited block 71 being arranged on damper rod 11 rotates, when low-grade limited block 71 touches low-grade microswitch 7, low-grade fine motion Switch 7 issues signal to servo-driver 3, and servo-driver 3 controls servo motor 2 and stops operating;

4th step:Complete gear switching, after high-grade limited block 61, which touches high shift microswitch 6, stalls servo motor 2, acquisition The actual measurement angle value of motor encoder 21 and high-grade rotary angle signal value carry out deviation and calculate a, when -1 °≤a≤1 ° of deviation When, then high tap position switching is completed, and otherwise servo-driver 3 reports an error to controller 4, and controller 4 controls machine and stops working waiting Malfunction elimination;

After low-grade limited block 71, which touches low-grade microswitch 7, stalls servo motor 2, the actual measurement angle of motor encoder 21 is acquired Angle value and low-grade rotary angle signal value carry out deviation and calculate a, and when -1 °≤a≤1 ° of deviation, then low-grade location switching is completed, Otherwise servo-driver 3 reports an error to controller 4, and the control machine of controller 4, which stops working, waits malfunction elimination.

Speed decision content X in the first step is 4 metre per second (m/s)s.

The principle of the present invention is described as follows:

The multiple outer oilhole 15 is correspondingly arranged with multiple interior oilholes 16, and servo motor 2 damps adjustment barrel 12 by rotary oil cylinder The positive area of outer oilhole 15 with interior oilhole 16 is adjusted, when the positive area of outer oilhole 15 and interior oilhole 16 increases, buffering Cylinder damping reduces, and when the positive area of outer oilhole 15 and interior oilhole 16 reduces, cushion cylinder damping increases.

PID control:Current closed-loop automatic control technology is all based on the concept of feedback to reduce uncertainty.Feedback reason The element of opinion includes three parts:It measures, compare and executes.The actual value for measuring crucially controlled variable, with desired value phase Compare, with this deviation come the response of correcting system, executes and adjust control.Engineering in practice, the adjusting being most widely used Device control law is ratio, integral, differential control, and abbreviation PID control, also known as PID are adjusted.

PID controller(Proportional-integral derivative controller)It is a common feedback loop portion in Industry Control Application Part is made of proportional unit P, integral unit I and differentiation element D.The basis of PID control is ratio control;Integration control can disappear Except steady-state error, but overshoot can be can increase;Differential control can accelerate Great inertia system response speed and weaken overshoot trend.

Embodiment 1:

A kind of accuracy control method of cushion cylinder, the end of the cushion cylinder 1 are provided with damper rod 11, the damper rod 11 One end be connected with the power output shaft of servo motor 2, the oil cylinder in the other end of the damper rod 11 and cushion cylinder 1 Damping adjustment barrel 12 is fixedly connected, and the power output shaft of the servo motor 2 passes through damper rod 11 and cylinder damping adjustment barrel 12 transmissions cooperate, and are provided with piston cylinder 13 in the cylinder damping adjustment barrel 12, are provided in the piston cylinder 13 and slide with it The inner wall of the oil cylinder piston 14 of cooperation, the cylinder damping adjustment barrel 12 is in contact with the outer wall of piston cylinder 13, the oil cylinder resistance Buddhist nun's adjustment barrel 12 and 13 rotatable engagement of piston cylinder offer multiple outer oilholes 15, the work in the cylinder damping adjustment barrel 12 Multiple interior oilholes 16 are offered in plug tube 13, the multiple outer oilhole 15 is correspondingly arranged with multiple interior oilholes 16;

High-grade limited block 61 and low-grade limited block 71, the top grade limited block 61 and high-grade fine motion are arranged on the damper rod 11 The button of switch 6, which is driven, to be cooperated, and the button of the low grade limited block 71 and low-grade microswitch 7 is driven cooperation;

The signal output end of the high shift microswitch 6 and low-grade microswitch 7 is believed with the signal input part of servo-driver 3 Number connection, the signal output end of the servo-driver 3 connect with the control end signal of servo motor 2, the servo motor 2 The signal output end of motor encoder 21 is connect with 3 signal of servo-driver, and the servo-driver 3 connects with 4 signal of controller It connects, the signal output end signal for the velocity sensor 5 being arranged on the controller 4 and load is connect;

The accuracy control method of the cushion cylinder includes the following steps:

The first step:Loading speed acquisition and control instruction issue, and controller 4 is with the speed of fixed frequency acquisition velocity sensor 5 Signal:When loading speed signal is zero, machine is in suspended state, and controller 4 does not issue control to servo-driver 3 and refers to It enables;

When loading speed signal is not zero, machine is in running order, and controller 4 issues control instruction to servo-driver 3, Control the damping size of cushion cylinder:Judge whether loading speed is more than or equal to X metre per second (m/s), 3≤X≤5, when loading speed is greater than When equal to X metre per second (m/s), cushion cylinder needs to switch to top grade to increase damping, and the given high-grade rotary angle signal of controller 4 will It is sent to servo-driver 3;When loading speed be less than X metre per second (m/s) when, cushion cylinder need to switch to low grade reduce damping, The given low-grade rotary angle signal of controller 4 sends it to servo-driver 3;

Second step:The rotation of PID control servo motor, after servo-driver 3 receives high-grade rotary angle signal, motor is compiled The actual measurement angle value of code 21 real-time measurement of device and high-grade rotary angle signal value carry out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, control 2 output shaft of servo motor rotation, realizes closed loop feedback control;

After servo-driver 3 receives low-grade rotary angle signal, by the actual measurement angle value of 21 real-time measurement of motor encoder And low-grade rotary angle signal value carries out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, and control servo motor 2 exports Axis rotation, realizes closed loop feedback control;

Third step:Switch feedback control realizes the rotation of 2 output shaft of servo motor by the PID control of second step, works as cushion cylinder When needing to be switched to top grade, the rotation of 2 output shaft of servo motor drives cylinder damping adjustment barrel 12 to rotate, and makes outer oilhole 15 and interior oil The positive area in hole 16 reduces to increase cylinder damping, drives when the rotation of 2 output shaft of servo motor and is arranged on damper rod 11 High-grade limited block 61 rotate, when high-grade limited block 61 touches high shift microswitch 6, high shift microswitch 6 to servo drive Dynamic device 3 issues signal, and servo-driver 3 controls servo motor 2 and stops operating;

When cushion cylinder needs to be switched to low grade, the rotation of 2 output shaft of servo motor drives cylinder damping adjustment barrel 12 to rotate, and makes The positive area of outer oilhole 15 and interior oilhole 16 increases to reduce cylinder damping, drives when the rotation of 2 output shaft of servo motor The low-grade limited block 71 being arranged on damper rod 11 rotates, when low-grade limited block 71 touches low-grade microswitch 7, low-grade fine motion Switch 7 issues signal to servo-driver 3, and servo-driver 3 controls servo motor 2 and stops operating;

4th step:Complete gear switching, after high-grade limited block 61, which touches high shift microswitch 6, stalls servo motor 2, acquisition The actual measurement angle value of motor encoder 21 and high-grade rotary angle signal value carry out deviation and calculate a, when -1 °≤a≤1 ° of deviation When, then high tap position switching is completed, and otherwise servo-driver 3 reports an error to controller 4, and controller 4 controls machine and stops working waiting Malfunction elimination;

After low-grade limited block 71, which touches low-grade microswitch 7, stalls servo motor 2, the actual measurement angle of motor encoder 21 is acquired Angle value and low-grade rotary angle signal value carry out deviation and calculate a, and when -1 °≤a≤1 ° of deviation, then low-grade location switching is completed, Otherwise servo-driver 3 reports an error to controller 4, and the control machine of controller 4, which stops working, waits malfunction elimination.

Embodiment 2:

Embodiment 2 is substantially the same manner as Example 1, the difference is that:

Speed decision content X in the first step is 4 metre per second (m/s)s.

Claims (2)

1. a kind of accuracy control method of cushion cylinder, it is characterised in that:
The end of the cushion cylinder 1 is provided with damper rod 11, and one end of the damper rod 11 and the power of servo motor 2 are defeated Shaft is connected, and the other end of the damper rod 11 is fixedly connected with the cylinder damping adjustment barrel 12 in cushion cylinder 1, described to watch The power output shaft for taking motor 2 is cooperated by damper rod 11 and the transmission of cylinder damping adjustment barrel 12, and the cylinder damping is adjusted It is provided with piston cylinder 13 in cylinder 12, the oil cylinder piston 14 being slidably matched with it, the oil cylinder resistance are provided in the piston cylinder 13 The inner wall of Buddhist nun's adjustment barrel 12 is in contact with the outer wall of piston cylinder 13, and the cylinder damping adjustment barrel 12 is matched with the rotation of piston cylinder 13 It closes, offers multiple outer oilholes 15 in the cylinder damping adjustment barrel 12, multiple interior oilholes 16 are offered on the piston cylinder 13, The multiple outer oilhole 15 is correspondingly arranged with multiple interior oilholes 16;
High-grade limited block 61 and low-grade limited block 71, the top grade limited block 61 and high-grade fine motion are arranged on the damper rod 11 The button of switch 6, which is driven, to be cooperated, and the button of the low grade limited block 71 and low-grade microswitch 7 is driven cooperation;
The signal output end of the high shift microswitch 6 and low-grade microswitch 7 is believed with the signal input part of servo-driver 3 Number connection, the signal output end of the servo-driver 3 connect with the control end signal of servo motor 2, the servo motor 2 The signal output end of motor encoder 21 is connect with 3 signal of servo-driver, and the servo-driver 3 connects with 4 signal of controller It connects, the signal output end signal for the velocity sensor 5 being arranged on the controller 4 and load is connect;
The accuracy control method of the cushion cylinder includes the following steps:
The first step:Loading speed acquisition and control instruction issue, and controller 4 is with the speed of fixed frequency acquisition velocity sensor 5 Signal:When loading speed signal is zero, machine is in suspended state, and controller 4 does not issue control to servo-driver 3 and refers to It enables;
When loading speed signal is not zero, machine is in running order, and controller 4 issues control instruction to servo-driver 3, Control the damping size of cushion cylinder:Judge whether loading speed is more than or equal to X metre per second (m/s), 3≤X≤5, when loading speed is greater than When equal to X metre per second (m/s), cushion cylinder needs to switch to top grade to increase damping, and the given high-grade rotary angle signal of controller 4 will It is sent to servo-driver 3;When loading speed be less than X metre per second (m/s) when, cushion cylinder need to switch to low grade reduce damping, The given low-grade rotary angle signal of controller 4 sends it to servo-driver 3;
Second step:The rotation of PID control servo motor, after servo-driver 3 receives high-grade rotary angle signal, motor is compiled The actual measurement angle value of code 21 real-time measurement of device and high-grade rotary angle signal value carry out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, control 2 output shaft of servo motor rotation, realizes closed loop feedback control;
After servo-driver 3 receives low-grade rotary angle signal, by the actual measurement angle value of 21 real-time measurement of motor encoder And low-grade rotary angle signal value carries out deviation calculating, and above-mentioned deviation is carried out PID arithmetic, and control servo motor 2 exports Axis rotation, realizes closed loop feedback control;
Third step:Switch feedback control realizes the rotation of 2 output shaft of servo motor by the PID control of second step, works as cushion cylinder When needing to be switched to top grade, the rotation of 2 output shaft of servo motor drives cylinder damping adjustment barrel 12 to rotate, and makes outer oilhole 15 and interior oil The positive area in hole 16 reduces to increase cylinder damping, drives when the rotation of 2 output shaft of servo motor and is arranged on damper rod 11 High-grade limited block 61 rotate, when high-grade limited block 61 touches high shift microswitch 6, high shift microswitch 6 to servo drive Dynamic device 3 issues signal, and servo-driver 3 controls servo motor 2 and stops operating;
When cushion cylinder needs to be switched to low grade, the rotation of 2 output shaft of servo motor drives cylinder damping adjustment barrel 12 to rotate, and makes The positive area of outer oilhole 15 and interior oilhole 16 increases to reduce cylinder damping, drives when the rotation of 2 output shaft of servo motor The low-grade limited block 71 being arranged on damper rod 11 rotates, when low-grade limited block 71 touches low-grade microswitch 7, low-grade fine motion Switch 7 issues signal to servo-driver 3, and servo-driver 3 controls servo motor 2 and stops operating;
4th step:Complete gear switching, after high-grade limited block 61, which touches high shift microswitch 6, stalls servo motor 2, acquisition The actual measurement angle value of motor encoder 21 and high-grade rotary angle signal value carry out deviation and calculate a, when -1 °≤a≤1 ° of deviation When, then high tap position switching is completed, and otherwise servo-driver 3 reports an error to controller 4, and controller 4 controls machine and stops working waiting Malfunction elimination;
After low-grade limited block 71, which touches low-grade microswitch 7, stalls servo motor 2, the actual measurement angle of motor encoder 21 is acquired Angle value and low-grade rotary angle signal value carry out deviation and calculate a, and when -1 °≤a≤1 ° of deviation, then low-grade location switching is completed, Otherwise servo-driver 3 reports an error to controller 4, and the control machine of controller 4, which stops working, waits malfunction elimination.
2. a kind of accuracy control method of cushion cylinder according to claim 1, it is characterised in that:
Speed decision content X in the first step is 4 metre per second (m/s)s.
CN201810594884.6A 2018-06-11 2018-06-11 A kind of accuracy control method of cushion cylinder CN108916295A (en)

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Citations (5)

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Publication number Priority date Publication date Assignee Title
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Publication number Priority date Publication date Assignee Title
US3782710A (en) * 1972-11-08 1974-01-01 Sheffer Corp Adjustable hydraulic linear decelerator
US4527676A (en) * 1982-02-13 1985-07-09 Atsugi Motor Parts Co., Ltd. Variable-damping-force shock absorber
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CN202531717U (en) * 2012-03-28 2012-11-14 南京理工大学 Damping hole fine-adjustable hydraulic buffer

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