CN109794934B - Intelligent control method for rotation angle of manipulator - Google Patents
Intelligent control method for rotation angle of manipulator Download PDFInfo
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- CN109794934B CN109794934B CN201811569074.1A CN201811569074A CN109794934B CN 109794934 B CN109794934 B CN 109794934B CN 201811569074 A CN201811569074 A CN 201811569074A CN 109794934 B CN109794934 B CN 109794934B
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Abstract
The invention discloses an intelligent control method for a rotation angle of an operating machine. The method comprises the following steps: a proportional valve is connected into a hydraulic system of the manipulator; a rotary encoder is arranged on the manipulator and is used for monitoring and measuring the rotation angle of the manipulator; respectively connecting the proportional valve and the rotary encoder into a PLC; the PLC receives the rotation angle information of the manipulator measured by the rotary encoder and adjusts the output of the proportional valve according to the rotation angle information so as to adjust the rotation angle of the manipulator. The intelligent control method for the rotation angle of the manipulator adopts a closed-loop control mode, utilizes the rotary encoder to carry out real-time measurement feedback on the rotation angle of the manipulator, and the PLC continuously adjusts the setting of the output parameters of the proportional valve according to the real-time measurement feedback result, so that the rotation of the manipulator can stably run in a speed change mode of a trapezoidal or triangular slope, the sudden change impact can be effectively reduced, the performance of a rotating mechanism is fully exerted, and the position control precision and the equipment performance of the manipulator are improved.
Description
Technical Field
The invention relates to the technical field of forging equipment, in particular to an intelligent control method for a rotation angle of an operating machine.
Background
At present, the rotating mechanism of the manipulator is mainly used for accurately positioning the rotating angle in the forging and pressing production process of axle products. Before the axle is produced, in order to ensure the clamping balance and the uniform stress during the production, an operating machine needs to accurately return to an absolute position; in addition, in the automatic or semi-automatic axle production process, the manipulator is required to continuously return to absolute positions of 0 °, 45 °, 90 ° and the like according to the forging requirement. In order to quickly and effectively cooperate with the high-frequency forging of the rapid forging press in the automatic or semi-automatic production process of the axle, the manipulator needs to continuously perform high-frequency and high-speed relative angular rotations in the up-and-down pressing process of the forging press ram, and generally, the relative angular rotations include 30-degree and 45-degree relative angular rotations set for the drawing and rounding processes and continuous beat relative angular rotations of any angle such as 15-degree and 20-degree relative angular rotations according to linkage relative position commands in the full-automatic production process.
The control system of the existing manipulator rotating mechanism comprises a PLC, a proportional valve and an encoder. When the operator rotates, the operator firstly changes the given opening degree of the proportional valve through the handle, and then continuously operates the handle according to the position value read by the encoder to change the given opening degree of the proportional valve so as to change the rotating angle and the position of the operator, thereby realizing the adjustment and control of the rotating angle and the position of the operator.
The inventor finds that the prior art has at least the following problems:
the manual operation mode of an operator is adopted, the proportional valve and the encoder are too simple to use, and the precision of the rotating angle and the position of the manipulator completely depends on the operation experience of the operator; in addition, in the actual use process, the manual operation has instability, so that the output impact of the proportional valve is easily large, the oil cylinder is damaged, and the problems of reduction of the position control precision of the manipulator, reduction of the equipment performance and the like occur.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides an intelligent control method for the rotation angle of an operating machine.
Therefore, the invention discloses an intelligent control method for the rotation angle of an operating machine. The method comprises the following steps:
a proportional valve is connected into a hydraulic system of the manipulator;
installing a rotary encoder on the manipulator, wherein the rotary encoder monitors and measures the rotation angle of the manipulator;
respectively connecting the proportional valve and the rotary encoder into a PLC;
and the PLC receives the rotation angle information of the operating machine measured by the rotary encoder and adjusts the output of the proportional valve according to the rotation angle information so as to adjust the rotation angle of the operating machine.
Furthermore, in the method for intelligently controlling the rotating angle of the operating machine, the PLC is used for writing an intelligent driving program, and the PLC calls the intelligent driving program according to the rotating angle information so as to adjust the output of the proportional valve.
Further, in the method for intelligently controlling the rotation angle of the operating machine, the PLC is used to write an intelligent driver, and the PLC calls the intelligent driver according to the rotation angle information to adjust the output of the proportional valve, including:
step 1) with a set angle value as an interval, compiling a background data table of the corresponding relation of the relative rotation angle, the rotation speed and the rotation acceleration of the manipulator according to the rotation characteristic of the manipulator;
step 2) calculating and setting a corresponding proportional relation between the rotating speed value of the operating machine and the output range of the proportional valve;
step 3) the PLC utilizes the relative rotation angle difference between the actual angle of the manipulator measured by the rotary encoder and the target angle required by the manipulator to address and call the background data table, and generates the rotation speed and the rotation acceleration value of the manipulator corresponding to the current relative rotation angle difference of the manipulator;
and 4) the PLC adjusts the output of the proportional valve according to the rotating speed, the rotating acceleration value and the corresponding proportional relation, drives the operating machine to rotate, and returns to the step 3 after the operating machine rotates by one set angle value until the operating machine rotates to a target angle.
Further, in the manipulator rotation angle intelligent control method, the set angle value is 4 °, 5 °, or 6 °.
Further, in the method for intelligently controlling the rotation angle of the operating machine, the calculating and setting of the corresponding proportional relationship between the rotation speed value of the operating machine and the output range of the proportional valve includes: and adopting a percentage conversion calculation mode to enable the rotation speed value of the operating machine to correspond to the output range of the proportional valve from the minimum output range to the maximum output range from 0% to 100% of the maximum speed.
Further, in the method for intelligently controlling the rotation angle of the manipulator, the PLC is further provided with an input excess filtering module, and the input excess filtering module is used for restricting and limiting the relationship between the rotation speed value of the manipulator generated by the PLC and the output range of the proportional valve;
when the rotating speed value of the operating machine is greater than the 100% speed maximum value, the rotating speed value of the operating machine corresponds to the maximum output range of the proportional valve;
and when the rotating speed value of the operating machine is greater than or equal to the 0% speed maximum value and less than or equal to the 100% speed maximum value, the rotating speed value of the operating machine corresponds to the output range of the proportional valve according to the calculation mode of percentage conversion.
The technical scheme of the invention has the following main advantages:
the intelligent control method for the rotating angle of the manipulator provided by the invention adopts a closed-loop control mode, the rotating encoder is used for carrying out real-time measurement feedback on the rotating angle of the manipulator, and the PLC continuously adjusts the given output parameter of the proportional valve according to the real-time measurement feedback result, so that the rotation of the manipulator can stably run in a speed change mode of a trapezoidal or triangular slope, the sudden change impact can be effectively reduced, the performance of a rotating mechanism can be fully exerted, and the position control precision and the equipment performance of the manipulator can be improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of an intelligent control method for a rotation angle of an operating machine according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
As shown in the accompanying drawings, an embodiment of the present invention provides an intelligent control method for a rotation angle of an operating machine, including:
a proportional valve is connected into a hydraulic system of the manipulator; a rotary encoder is arranged on the manipulator and is used for monitoring and measuring the rotation angle of the manipulator; respectively connecting the proportional valve and the rotary encoder into a PLC; the PLC receives the rotation angle information of the manipulator measured by the rotary encoder and adjusts the output of the proportional valve according to the rotation angle information so as to adjust the rotation angle of the manipulator.
The principle of the method for intelligently controlling the rotating angle of the manipulator provided by the embodiment of the invention is explained as follows:
when the manipulator needs to rotate to a certain target angle, the rotary encoder measures the current angle position of the manipulator, the PLC receives the current angle of the manipulator measured by the rotary encoder, and sends an instruction to adjust the output of the proportional valve according to the difference value between the current angle and the target angle so as to drive the manipulator to rotate and change the rotation angle of the manipulator; meanwhile, in the process, the rotary encoder continuously measures the actual angle corresponding to each moment of the manipulator and sends the measured actual angle value to the PLC, and the PLC continuously adjusts the output of the proportional valve according to the change of the difference value of the actual angle and the target angle so as to continuously adjust the rotating speed and the rotating acceleration of the manipulator and enable the rotation of the manipulator to stably run and gradually approach the target angle.
In the embodiment of the invention, the PLC is used for writing the intelligent driving program, and the PLC calls the intelligent driving program according to the rotation angle information of the operating machine measured by the rotary encoder so as to adjust the output of the proportional valve.
Specifically, how the PLC writes an intelligent driver, and calls the intelligent driver according to the rotation angle information of the manipulator measured by the rotary encoder to adjust the output of the proportional valve, so as to achieve smooth rotation of the manipulator and gradually approach the target angle, which is exemplified below:
utilize PLC to compile intelligent driver, PLC calls intelligent driver according to the rotation angle information of operation machine to the output of adjusting the proportional valve includes: step 1) according to the relative rotation angle of the manipulator, setting the angle value as an interval, and compiling a background data table of the corresponding relation of the relative rotation angle, the rotation speed and the rotation acceleration of the manipulator according to the rotation characteristic of the manipulator; step 2) calculating and setting a corresponding proportional relation between the rotating speed value of the operating machine and the output range of the proportional valve; step 3) the PLC utilizes the difference value of the relative rotation angle between the actual angle of the manipulator measured by the rotary encoder and the target angle required by the manipulator to address and call a background data table and generate the rotation speed and the rotation acceleration value of the manipulator corresponding to the difference value of the current relative rotation angle of the manipulator; and 4) the PLC adjusts the output of the proportional valve according to the corresponding proportional relation between the rotating speed and the rotating acceleration value as well as the rotating speed value and the output range, drives the operating machine to rotate, and returns to the step 3 after the operating machine rotates for a set angle value until the operating machine rotates to a target angle.
In the process that the PLC regulates the output of the proportional valve according to the corresponding proportional relation between the rotating speed value and the rotating acceleration value and between the rotating speed value and the output range, the rotating angle of the operating machine changes due to the change of the output of the proportional valve, correspondingly, the difference value between the current actual angle and the target angle of the operating machine also changes, the rotating speed value and the rotating acceleration value of the operating machine, which are generated by the PLC by utilizing the difference value between the actual angle and the target angle, also change according to the difference of the called background data table addresses, and the output of the proportional valve also changes according to the difference of the rotating speed values, so that the rotating stability of the operating machine can be ensured, and the actual rotating angle of the operating machine continuously changes to approach the target angle.
Wherein, because the manipulator is the axial symmetry type equipment, in order to realize the quick rotation adjustment of manipulator. In the embodiment of the invention, a target angle is set as X, and when the difference value between the target angle X and the current actual angle is less than or equal to 90 degrees, the operating machine adopts a forward rotation mode; when the difference between the target angle X and the current actual angle is greater than 90 °, the manipulator adopts the reverse mode, and the target angle X' in the reverse mode is X-180 °.
Further, in the embodiment of the present invention, the set angle value may be determined according to actual conditions, and since the opening degree of the proportional valve is 0 ° to 180 °, preferably, the set angle value is 4 °, 5 °, or 6 °.
Further, in the embodiment of the present invention, the calculating and setting the corresponding proportional relationship between the rotation speed value of the operating machine and the output range of the proportional valve includes: the calculation mode of percentage conversion is adopted, so that the rotating speed value of the operating machine is from 0% speed maximum value to 100% speed maximum value, and the output range of the proportional valve is from the minimum output range to the maximum output range.
Since the opening of the proportional valve is 0 ° to 180 °, accordingly, the actual rotational speed of the operator has a maximum value. In order to facilitate the correspondence between the rotation speed value generated by using the background data table and the output range of the proportional valve, in the embodiment of the invention, the PLC is also provided with an input over-value filtering module, and the input over-value filtering module is used for restricting and limiting the relationship between the rotation speed value of the operating machine generated by the PLC and the output range of the proportional valve; specifically, when the rotation speed value of the operating machine generated by the PLC is greater than the maximum 100% speed value of the operating machine, the rotation speed value of the operating machine corresponds to the maximum output range of the proportional valve; and when the rotating speed value of the operating machine generated by the PLC is greater than or equal to the 0% speed maximum value of the operating machine and less than or equal to the 100% speed maximum value of the operating machine, the rotating speed value of the operating machine corresponds to the output range of the proportional valve according to the calculation mode of percentage conversion.
Therefore, the intelligent control method for the rotating angle of the manipulator provided by the embodiment of the invention adopts a closed-loop control mode, the rotating encoder is used for carrying out real-time measurement feedback on the rotating angle of the manipulator, and the PLC continuously adjusts the given output parameter of the proportional valve according to the real-time measurement feedback result, so that the rotation of the manipulator can stably run in a speed change mode of a trapezoidal or triangular slope, the sudden change impact can be effectively reduced, the performance of a rotating mechanism can be fully exerted, and the position control precision and the equipment performance of the manipulator can be improved.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. An intelligent control method for a rotation angle of an operating machine is characterized by comprising the following steps:
a proportional valve is connected into a hydraulic system of the manipulator;
installing a rotary encoder on the manipulator, wherein the rotary encoder monitors and measures the rotation angle of the manipulator;
respectively connecting the proportional valve and the rotary encoder into a PLC;
writing an intelligent driving program by using the PLC, receiving the rotation angle information of the operating machine measured by the rotary encoder by using the PLC, and calling the intelligent driving program to adjust the output of the proportional valve according to the rotation angle information so as to adjust the rotation angle of the operating machine;
the PLC calls the intelligent driving program according to the rotation angle information so as to adjust the output of the proportional valve, and the method comprises the following steps:
step 1) with a set angle value as an interval, compiling a background data table of the corresponding relation of the relative rotation angle, the rotation speed and the rotation acceleration of the manipulator according to the rotation characteristic of the manipulator;
step 2) calculating and setting a corresponding proportional relation between the rotating speed value of the operating machine and the output range of the proportional valve;
step 3) the PLC utilizes the relative rotation angle difference between the actual angle of the manipulator measured by the rotary encoder and the target angle required by the manipulator to address and call the background data table, and generates the rotation speed and the rotation acceleration value of the manipulator corresponding to the current relative rotation angle difference of the manipulator;
and 4) the PLC adjusts the output of the proportional valve according to the rotating speed, the rotating acceleration value and the corresponding proportional relation, drives the operating machine to rotate, and returns to the step 3 after the operating machine rotates by one set angle value until the operating machine rotates to a target angle.
2. The method according to claim 1, wherein the set angle value is 4 °, 5 ° or 6 °.
3. The intelligent control method for the rotating angle of the operating machine according to claim 1, wherein the calculation and setting of the corresponding proportional relationship between the rotating speed value of the operating machine and the output range of the proportional valve comprises: and adopting a percentage conversion calculation mode to enable the rotation speed value of the operating machine to correspond to the output range of the proportional valve from the minimum output range to the maximum output range from 0% to 100% of the maximum speed.
4. The intelligent manipulator rotation angle control method according to claim 3, wherein the PLC is further provided with an input excess value filter module, and the input excess value filter module is used for performing constraint limitation on the relationship between the rotation speed value of the manipulator generated by the PLC and the output range of the proportional valve;
when the rotating speed value of the operating machine is greater than the 100% speed maximum value, the rotating speed value of the operating machine corresponds to the maximum output range of the proportional valve;
and when the rotating speed value of the operating machine is greater than or equal to the 0% speed maximum value and less than or equal to the 100% speed maximum value, the rotating speed value of the operating machine corresponds to the output range of the proportional valve according to the calculation mode of percentage conversion.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH02235540A (en) * | 1989-03-06 | 1990-09-18 | Yoshikawa Tekko Kk | Controller of rivet press |
| CN101152769A (en) * | 2006-09-28 | 2008-04-02 | 中南大学 | Multi-relative position electrohydraulic scale servo system position control method |
| CN101164718A (en) * | 2006-10-19 | 2008-04-23 | 天津市天锻压力机有限公司 | Numerically-controlled forging hydraulic press capable of realizing workpiece automatic centering |
| CN102849201A (en) * | 2012-09-17 | 2013-01-02 | 苏州船用动力系统股份有限公司 | Constant speed servo unit for controlling angle signals and control method thereof |
| CN104314897A (en) * | 2014-10-16 | 2015-01-28 | 山东科技大学 | Control device for automatically laying offshore spilled oil containment booms and control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6824379B2 (en) * | 1998-04-21 | 2004-11-30 | Synventive Molding Solutions, Inc. | Apparatus for utilizing an actuator for flow control valve gates |
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- 2018-12-21 CN CN201811569074.1A patent/CN109794934B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02235540A (en) * | 1989-03-06 | 1990-09-18 | Yoshikawa Tekko Kk | Controller of rivet press |
| CN101152769A (en) * | 2006-09-28 | 2008-04-02 | 中南大学 | Multi-relative position electrohydraulic scale servo system position control method |
| CN101164718A (en) * | 2006-10-19 | 2008-04-23 | 天津市天锻压力机有限公司 | Numerically-controlled forging hydraulic press capable of realizing workpiece automatic centering |
| CN102849201A (en) * | 2012-09-17 | 2013-01-02 | 苏州船用动力系统股份有限公司 | Constant speed servo unit for controlling angle signals and control method thereof |
| CN104314897A (en) * | 2014-10-16 | 2015-01-28 | 山东科技大学 | Control device for automatically laying offshore spilled oil containment booms and control method |
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