CN109531150A - Heavy caliber welded pipe units hydraulic cylinder synchronization control method - Google Patents
Heavy caliber welded pipe units hydraulic cylinder synchronization control method Download PDFInfo
- Publication number
- CN109531150A CN109531150A CN201811346410.6A CN201811346410A CN109531150A CN 109531150 A CN109531150 A CN 109531150A CN 201811346410 A CN201811346410 A CN 201811346410A CN 109531150 A CN109531150 A CN 109531150A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- pid controller
- control
- heavy caliber
- welded pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
Abstract
The invention discloses a kind of heavy caliber welded pipe units hydraulic cylinder synchronization control methods, this method comprises: motion control PLC is connect with multiple first hydraulic cylinders in prebending machine, carry out master & slave control to multiple first hydraulic cylinders；Motion control PLC is connect with multiple second hydraulic cylinders in molding machine, multiple second hydraulic cylinders are controlled on an equal basis；Motion control PLC is connect with multiple third hydraulic cylinders in Prewelding machine, virtual main shaft synchronously control is carried out to multiple third hydraulic cylinders.In heavy caliber welded pipe units hydraulic cylinder synchronization control method of the invention, since motion control PLC has both motion control and programming in logic function, by carrying out programming in logic in motion control PLC, can to first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder move synchronously carry out control structure it is simple, logic control program can easily be changed after more exchange device, universality is stronger.By selecting master & slave control to first hydraulic cylinder, reduce the impact to system.
Description
Technical field
The present invention relates to steel pipe joint close welding technology field more particularly to a kind of heavy caliber welded pipe units hydraulic cylinder synchronous controls
Method processed.
Background technique
Steel pipe joint close welding JCO production line used includes: prebending machine, molding machine, Prewelding machine and control system.Prebending machine
Pre-bending is carried out to the steel plate behind milling side, steel plate both ends are squeezed into camber.Steel plate after pre-bending is pressed into O shape socket by molding machine,
Prewelding machine is by molding socket joint close and welds.Prebending machine, molding machine and Prewelding machine are driven by multiple hydraulic cylinders respectively,
Hydraulic cylinder runs through control system control.
The control system that the prior art provides includes numerical control unit, interface circuit and servo drive, and numerical control unit is logical
It crosses interface circuit to connect with servo drive, servo drive connect the operating of control hydraulic cylinder with hydraulic cylinder.In use,
Numerical control unit exports low power electric signal, passes through according to the control program of storage, execution part or whole numerical control functions
Servo drive is converted to corresponding hydraulic power, and then controls the operating of hydraulic cylinder.
The inventor finds that the existing technology has at least the following problems: the corresponding fixation of the control program stored in numerical control unit is set
Standby, universality is poor.
Summary of the invention
To solve above-mentioned the technical problems existing in the prior art, the present invention provides a kind of heavy caliber welded pipe units are hydraulic
Cylinder synchronisation control means.Specific technical solution is as follows:
A kind of heavy caliber welded pipe units hydraulic cylinder synchronization control method, which comprises by motion control PLC and pre-bending
Multiple first hydraulic cylinders connection in machine, carries out master & slave control to the multiple first hydraulic cylinder；By the motion control PLC with
Multiple second hydraulic cylinders connection in molding machine, controls the multiple second hydraulic cylinder on an equal basis；By the motion control
PLC is connect with multiple third hydraulic cylinders in Prewelding machine, carries out virtual main shaft synchronously control to the multiple third hydraulic cylinder.
Further, the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder include: PID control
Device, proportioning valve and displacement sensor；The motion control PLC sends control instruction, the PID control to the PID controller
Device controls the opening degree of the proportioning valve, and the location information is simultaneously sent to described by institute's displacement sensors check bit confidence breath
PID controller forms closed loop feedback.
Further, described that master & slave control is carried out to the multiple first hydraulic cylinder, comprising: selected main hydraulic cylinder, it is described
Motion control PLC sends preset instructions to the corresponding PID controller of the main hydraulic cylinder, and the PID controller is according to described pre-
Act the main hydraulic cylinder if instruction adjusts corresponding proportioning valve to the first default opening degree, institute's displacement sensors detect institute
It states the position of main hydraulic cylinder and the location information is sent to the PID controller, the PID controller is according to the position
Information, which adjusts the proportioning valve to target opening degree, makes the main hydraulic cylinder reach target position, and the target opening degree is sent out
Give it is each from hydraulic cylinder, it is described each to adjust corresponding proportioning valve to target opening degree, institute from the PID controller in hydraulic cylinder
Stating from hydraulic cylinder is the residue first hydraulic cylinder after excluding the main hydraulic cylinder.
Further, described that the multiple second hydraulic cylinder is controlled on an equal basis, comprising: the motion control PLC to
PID controller in each second hydraulic cylinder sends identical preset instructions, and the PID controller is according to the default finger
The corresponding proportioning valve of adjusting to the second default opening degree is enabled to act the second hydraulic cylinder, described in the detection of institute's displacement sensors
The location information is simultaneously sent to the PID controller by the position of second hydraulic cylinder, and the PID controller is according to the position
Information adjusts the proportioning valve to target opening degree and then the second hydraulic cylinder is made to reach target position.
Further, described that virtual main shaft synchronously control is carried out to the multiple third hydraulic cylinder, comprising: to establish dummy fluid
Cylinder pressure, and set the position of the virtual hydraulic cylinder, multiple third hydraulic cylinders according to the virtual hydraulic cylinder movement from
Row adjust to the virtual hydraulic cylinder synchronous.
Further, the motion control PLC is connect with operator control panel, is input operation instruction by the operator control panel.
Further, the quantity of the first hydraulic cylinder is 4.
Further, the quantity of the second hydraulic cylinder is 6.
Further, the quantity of the third hydraulic cylinder is 13.
The major advantage of technical solution of the present invention is as follows:
In heavy caliber welded pipe units hydraulic cylinder synchronization control method of the invention, motion control PLC respectively with prebending machine
In first hydraulic cylinder, the second hydraulic cylinder in molding machine connected with the third hydraulic cylinder in Prewelding machine, due to motion control PLC
Have both motion control and programming in logic function, by carrying out programming in logic in motion control PLC, can to first hydraulic cylinder,
Second hydraulic cylinder and moving synchronously for third hydraulic cylinder are controlled.Servo-drive dress is connect by numerical control unit with the prior art
Set to control hydraulic cylinder operating and compare, structure is simple, can easily change logic control program after more exchange device, universality compared with
By force.And in embodiments of the present invention, master-slave control method is selected to distinguish traditional follow the mode, follow the mode first hydraulic cylinder
In each hydraulic cylinder it is asynchronous when, fireballing hydraulic cylinder reverse direction operation, slow-footed hydraulic cylinder Accelerating running (it is chase after fastly slow, slowly
Chase after fast), each hydraulic cylinder direction difference causes system fluctuation larger, and in master & slave control, running fast first hydraulic cylinder is
Slow down the speed of service to wait without reverse direction operation, reduces the impact to system.Same control, contracting are selected to second hydraulic cylinder
Short response time synchronizes each second hydraulic cylinder and reaches predeterminated position.Virtual main shaft synchronously control is selected to third hydraulic cylinder, is subtracted
Few operand.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes of the invention one
Point, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, does not constitute improper limitations of the present invention.Attached
In figure:
Fig. 1 is the flow chart of heavy caliber welded pipe units hydraulic cylinder synchronization control method provided by one embodiment of the present invention；
Fig. 2 is master & slave control in heavy caliber welded pipe units hydraulic cylinder synchronization control method provided by one embodiment of the present invention
Logic relation picture；
Fig. 3 is to control on an equal basis in heavy caliber welded pipe units hydraulic cylinder synchronization control method provided by one embodiment of the present invention
Logic relation picture；
Fig. 4 is virtual main shaft in heavy caliber welded pipe units hydraulic cylinder synchronization control method provided by one embodiment of the present invention
The logic relation picture of synchronously control.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only of the invention
A part of the embodiment, instead of all the embodiments.Based on the embodiment of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Below in conjunction with attached drawing, the technical solution of embodiment that the present invention will be described in detail offer.
The embodiment of the invention provides a kind of heavy caliber welded pipe units hydraulic cylinder synchronization control methods, as shown in Figure 1, the party
Method includes:
Step 101, motion control PLC is connect with multiple first hydraulic cylinders in prebending machine, to multiple first hydraulic cylinders
Carry out master & slave control.
Step 102, motion control PLC is connect with multiple second hydraulic cylinders in molding machine, to multiple second hydraulic cylinders
It is controlled on an equal basis.
Step 103, motion control PLC is connect with multiple third hydraulic cylinders in Prewelding machine, to multiple third hydraulic cylinders
Carry out virtual main shaft synchronously control.
Wherein, motion control PLC can be connect with first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder simultaneously, for
For a certain steel plate, sequentially through pre-bending, molding and prewelding step, above-mentioned steps 101, step 102 and step 103 sequentially into
Row.There are multiple steel plates in process, in production line, prebending machine, molding machine and Prewelding machine can go into operation simultaneously, that is, above-mentioned step
Rapid 101, step 102 and step 103 can carry out simultaneously.
In heavy caliber welded pipe units hydraulic cylinder synchronization control method provided in an embodiment of the present invention, motion control PLC points
Third hydraulic cylinder not with the first hydraulic cylinder in prebending machine, in the second hydraulic cylinder and Prewelding machine in molding machine is connect, due to
Motion control PLC has both motion control and programming in logic function, can be right by carrying out programming in logic in motion control PLC
First hydraulic cylinder, second hydraulic cylinder and moving synchronously for third hydraulic cylinder are controlled.Connected with the prior art by numerical control unit
Servo drive is connect to control hydraulic cylinder operating and compare, structure is simple, can easily change logic control after more exchange device
Program, universality are stronger.And in embodiments of the present invention, master-slave control method is selected to distinguish traditional follow first hydraulic cylinder
Mode, when each hydraulic cylinder is asynchronous in follow the mode, fireballing hydraulic cylinder reverse direction operation, slow-footed hydraulic cylinder accelerates fortune
Row (chase after fastly slow, chase after slowly fast), each hydraulic cylinder direction difference causes system fluctuation larger, in master & slave control, runs fast the
One hydraulic cylinder only slows down the speed of service and waits without reverse direction operation, reduces the impact to system.Second hydraulic cylinder is selected
With same control, shortens the response time, synchronize each second hydraulic cylinder and reach predeterminated position.Third hydraulic cylinder is selected virtual main
Axis synchronously control reduces operand.
How motion control PLC is adjusted the movement of hydraulic cylinder, is illustrated below:
First hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder include: PID controller, proportioning valve and displacement sensor.
Motion control PLC sends control instruction to PID controller, and PID controller controls the opening degree of proportioning valve, displacement sensor detection
Location information is simultaneously sent to PID controller formation closed loop feedback by location information.It is formed by PID controller and position sensor
Closed loop feedback mentions high control precision.
Further, master & slave control is carried out to multiple first hydraulic cylinders, comprising:
Selected main hydraulic cylinder, motion control PLC send preset instructions, PID control to the corresponding PID controller of main hydraulic cylinder
Device, which adjusts corresponding proportioning valve to the first default opening degree according to preset instructions, acts main hydraulic cylinder, displacement sensor detection master
Location information is simultaneously sent to PID controller by the position of hydraulic cylinder, and PID controller adjusts proportioning valve to target according to location information
Opening degree makes the main hydraulic cylinder reach target position, and target opening degree is sent to it is each from hydraulic cylinder, each from hydraulic
PID controller in cylinder adjusts corresponding proportioning valve to target opening degree, be residue after excluding main hydraulic cylinder the from hydraulic cylinder
One hydraulic cylinder.
When operation, the target position that first hydraulic cylinder need to reach is determined, motion control PLC obtains the mesh according to target position
The corresponding proportioning valve opening degree of cursor position sends instruction to the corresponding PID controller of main hydraulic cylinder, so that proportioning valve is reached first pre-
If opening degree, which is the corresponding proportioning valve opening degree in target position that above-mentioned PLC is obtained.In view of machine driving
Than factors such as difference, errors, which may exist with target position
Deviation, which is simultaneously sent to PID controller by the location information of displacement sensor detection main hydraulic cylinder, anti-by closed loop
Feedback adjusts further adjustment proportioning valve makes main hydraulic cylinder reach target position to target opening degree.Synchronously, it is closed in main hydraulic cylinder
While ring is fed back, the target opening degree obtained in main hydraulic cylinder by feedback procedure is used as the proportioning valve from hydraulic cylinder to need to adjust
The opening degree arrived reduces the regulated quantity of the subsequent feedback control from hydraulic cylinder.
As it can be seen that by master & slave control, motion control PLC need to only be sent in control process to the PID controller of main hydraulic cylinder
Instruction, can be such that whole first hydraulic cylinders moves synchronously.The logic relation picture of master & slave control may refer to Fig. 2.
Further, multiple second hydraulic cylinders are controlled on an equal basis, comprising:
PID controller of the motion control PLC into each second hydraulic cylinder sends identical preset instructions, PID controller
Adjusting corresponding proportioning valve to the second default opening degree according to preset instructions acts second hydraulic cylinder, displacement sensor detection the
Location information is simultaneously sent to PID controller by the position of two hydraulic cylinders, and PID controller adjusts proportioning valve to mesh according to location information
Mark opening degree makes second hydraulic cylinder reach target position in turn.
By using synchronously control, make each second hydraulic cylinder can be with non-interfering separately adjustable, anti-interference is stronger.Together
The logic relation picture of step control may refer to Fig. 3.
Further, virtual main shaft synchronously control is carried out to multiple third hydraulic cylinders, comprising:
Virtual hydraulic cylinder is established, and sets the position of virtual hydraulic cylinder, multiple third hydraulic cylinders are according to virtual hydraulic cylinder
Movement voluntarily adjust to virtual hydraulic cylinder synchronous.
Most parameters can freely be set in a program in virtual main shaft synchronously control, therefore be had well flexibly
Property, good synchronously control performance can be realized by constantly regulate their numerical value.The logic of virtual main shaft synchronously control
Relational graph may refer to Fig. 4.
In the embodiment of the present invention, motion control PLC is connect with operator control panel, is input operation instruction by operator control panel.Work people
Member inputs parameter by operator control panel and controls the movement of hydraulic cylinder, and the movement of each hydraulic cylinder can be shown by operator control panel
State.
It is understood that operator control panel can be touch display screen, convenient for operating the movement with each hydraulic cylinder of real-time display
State.
Method provided in an embodiment of the present invention be applied to heavy caliber welded pipe units, wherein prebending machine by mill side after steel plate
Both ends squeeze camber, and the quantity of first hydraulic cylinder can be 4 in prebending machine.
Steel plate after pre-bending is pressed into O shape socket by molding machine, and the quantity of second hydraulic cylinder can be 6 in molding machine.
Prewelding machine is depressed molding socket joint close simultaneously and is welded, the number of third hydraulic cylinder by 9 combinated seam rollers
Amount can be 13.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In addition, placement shape of "front", "rear", "left", "right", "upper", the "lower" herein to be indicated in attached drawing
State is reference.
Finally, it should be noted that the above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of heavy caliber welded pipe units hydraulic cylinder synchronization control method, which is characterized in that the described method includes:
Motion control PLC is connect with multiple first hydraulic cylinders in prebending machine, principal and subordinate is carried out to the multiple first hydraulic cylinder
Control；
The motion control PLC is connect with multiple second hydraulic cylinders in molding machine, the multiple second hydraulic cylinder is carried out
Same control；
The motion control PLC is connect with multiple third hydraulic cylinders in Prewelding machine, the multiple third hydraulic cylinder is carried out
Virtual main shaft synchronously control.
2. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to claim 1, which is characterized in that described first
Hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder include: PID controller, proportioning valve and displacement sensor；
The motion control PLC sends control instruction to the PID controller, and the PID controller controls the proportioning valve
The location information is simultaneously sent to the PID controller formation closed loop by opening degree, institute's displacement sensors check bit confidence breath
Feedback.
3. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to claim 2, which is characterized in that described to more
A first hydraulic cylinder carries out master & slave control
Selected main hydraulic cylinder, the motion control PLC send preset instructions, institute to the corresponding PID controller of the main hydraulic cylinder
State PID controller keeps the main hydraulic cylinder dynamic according to the corresponding proportioning valve of preset instructions adjusting to the first default opening degree
Make, institute's displacement sensors detect the position of the main hydraulic cylinder and the location information is sent to the PID controller, institute
Stating PID controller and adjusting the proportioning valve to target opening degree according to the positional information makes the main hydraulic cylinder reach target position
It sets, and the target opening degree is sent to each from hydraulic cylinder, described each adjust from the PID controller in hydraulic cylinder corresponds to
Proportioning valve to target opening degree, it is described from hydraulic cylinder be the residue first hydraulic cylinder after excluding the main hydraulic cylinder.
4. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to claim 2, which is characterized in that described to more
A second hydraulic cylinder carries out same control
PID controller of the motion control PLC into each second hydraulic cylinder sends identical preset instructions, described
PID controller, which adjusts corresponding proportioning valve to the second default opening degree according to the preset instructions, keeps the second hydraulic cylinder dynamic
To make, institute's displacement sensors detect the position of the second hydraulic cylinder and the location information are sent to the PID controller,
The PID controller adjusts the proportioning valve to target opening degree according to the positional information and then reaches the second hydraulic cylinder
To target position.
5. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to claim 2, described hydraulic to multiple thirds
Cylinder carries out virtual main shaft synchronously control
Virtual hydraulic cylinder is established, and sets the position of the virtual hydraulic cylinder, multiple third hydraulic cylinders are according to described virtual
The movement of hydraulic cylinder voluntarily adjust to the virtual hydraulic cylinder synchronous.
6. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to any one of claims 1-5, feature exist
In the motion control PLC is connect with operator control panel, is input operation instruction by the operator control panel.
7. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to claim 1, which is characterized in that described first
The quantity of hydraulic cylinder is 4.
8. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to claim 1, which is characterized in that described second
The quantity of hydraulic cylinder is 6.
9. heavy caliber welded pipe units hydraulic cylinder synchronization control method according to claim 1, which is characterized in that the third
The quantity of hydraulic cylinder is 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811346410.6A CN109531150B (en) | 2018-11-13 | 2018-11-13 | Synchronous control method for hydraulic cylinders of large-diameter welded pipe unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811346410.6A CN109531150B (en) | 2018-11-13 | 2018-11-13 | Synchronous control method for hydraulic cylinders of large-diameter welded pipe unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109531150A true CN109531150A (en) | 2019-03-29 |
| CN109531150B CN109531150B (en) | 2020-10-13 |
Family
ID=65846924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811346410.6A Active CN109531150B (en) | 2018-11-13 | 2018-11-13 | Synchronous control method for hydraulic cylinders of large-diameter welded pipe unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531150B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2308475A1 (en) * | 1973-02-21 | 1974-08-22 | Rexroth Gmbh G L | CONTINUOUS SPEED CONTROL FOR HYDRAULIC MULTICYLINDER DRIVES |
| DE3624328A1 (en) * | 1986-07-18 | 1988-01-28 | Deutsche Forsch Luft Raumfahrt | Method and device for the synchronous control of servovalves for servo actuating cylinders, especially in hydraulic ram machines |
| CN1461255A (en) * | 2000-09-20 | 2003-12-10 | 莱伊斯布赫尔有限公司 | Controller for hydroaulic press and method for operation thereof |
| CN101305189A (en) * | 2005-09-12 | 2008-11-12 | 莱斯有限公司 | Control apparatus and control method for a piston/cylinder arrangement |
| CN101436066A (en) * | 2008-12-17 | 2009-05-20 | 中冶辽宁德龙钢管有限公司 | Real time information management method and system of high-frequency straight welded pipe production line |
| CN101672311A (en) * | 2009-09-24 | 2010-03-17 | 中冶赛迪工程技术股份有限公司 | Multi-hydraulic cylinder synchronization control method |
| CN102825437A (en) * | 2012-08-15 | 2012-12-19 | 山东泰丰钢业有限公司 | ERW (electrical resistance welding) process of high-strength automobile transmission shaft pipe |
-
2018
- 2018-11-13 CN CN201811346410.6A patent/CN109531150B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2308475A1 (en) * | 1973-02-21 | 1974-08-22 | Rexroth Gmbh G L | CONTINUOUS SPEED CONTROL FOR HYDRAULIC MULTICYLINDER DRIVES |
| DE3624328A1 (en) * | 1986-07-18 | 1988-01-28 | Deutsche Forsch Luft Raumfahrt | Method and device for the synchronous control of servovalves for servo actuating cylinders, especially in hydraulic ram machines |
| CN1461255A (en) * | 2000-09-20 | 2003-12-10 | 莱伊斯布赫尔有限公司 | Controller for hydroaulic press and method for operation thereof |
| CN101305189A (en) * | 2005-09-12 | 2008-11-12 | 莱斯有限公司 | Control apparatus and control method for a piston/cylinder arrangement |
| CN101436066A (en) * | 2008-12-17 | 2009-05-20 | 中冶辽宁德龙钢管有限公司 | Real time information management method and system of high-frequency straight welded pipe production line |
| CN101672311A (en) * | 2009-09-24 | 2010-03-17 | 中冶赛迪工程技术股份有限公司 | Multi-hydraulic cylinder synchronization control method |
| CN102825437A (en) * | 2012-08-15 | 2012-12-19 | 山东泰丰钢业有限公司 | ERW (electrical resistance welding) process of high-strength automobile transmission shaft pipe |
Non-Patent Citations (2)
| Title |
|---|
| 李德友: "基于LabVIEW电液伺服同步系统研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 李素玲等: "基于虚轴原理的液压折弯机同步控制研究", 《组合机床与自动化加工技术》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109531150B (en) | 2020-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102866665B (en) | Multi-axial synchronous control system and method for all-electric bending machine | |
| CN202399558U (en) | Servo drive hydraulic control system | |
| CN109732024B (en) | Hydraulic horizontal forging machine control system and method capable of selecting forming station | |
| CN106444607A (en) | Multi-heterogeneous industrial robot data communication and control method | |
| JP4884277B2 (en) | Press line operation control method | |
| CN103334973A (en) | Synchronizing system for multiple hydraulic cylinders and control method for synchronizing system for multiple hydraulic cylinders | |
| JP2017027501A (en) | Machine tool-robot real-time intervention confirmation system | |
| CN101808814B (en) | Press angle control device, press machine facility, and press angle control method | |
| CN103631220A (en) | Punching robot production control system | |
| CN103611861A (en) | Zero pressure sensor control device and method of servo pressure machine | |
| WO2017049771A1 (en) | Servo-based master-slave position synchronization control system and method | |
| WO2018233088A1 (en) | Control model and algorithm for cooperative motion of two six-axis robots | |
| CN112916669A (en) | Full-electric servo bending machine numerical control system | |
| CN111672950B (en) | Method and system for machining bent pipe by applying polar coordinate method | |
| CN103455007B (en) | The multiple stage punch press operational system online same period and progress control method thereof | |
| CN207586759U (en) | Uncoiling or coiling machine centering control system | |
| CN109531150A (en) | Heavy caliber welded pipe units hydraulic cylinder synchronization control method | |
| CN110744538B (en) | Hydraulic position synchronous control method applied to petroleum machinery | |
| CN202174208U (en) | Hydraulic circuit of rolling and riveting system | |
| CN102253656A (en) | Electric system of combined copying lathe machine for simultaneously turning and milling internal and external circles of piston ring | |
| CN205271133U (en) | High -frequency soldering intelligence control system | |
| CN206270740U (en) | A kind of variable speed rolling control device in seamless pipe production | |
| CN104571060A (en) | Automatic control system | |
| CN204389991U (en) | Flexible production line control system | |
| CN206747294U (en) | A kind of aluminum section extruder constant speed control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |