CN111604451B - Control method and control system for hot forming process of high-precision forging hydraulic press - Google Patents
Control method and control system for hot forming process of high-precision forging hydraulic press Download PDFInfo
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- CN111604451B CN111604451B CN202010430410.5A CN202010430410A CN111604451B CN 111604451 B CN111604451 B CN 111604451B CN 202010430410 A CN202010430410 A CN 202010430410A CN 111604451 B CN111604451 B CN 111604451B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/10—Drives for forging presses
- B21J9/20—Control devices specially adapted to forging presses not restricted to one of the preceding subgroups
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Abstract
The invention relates to a control method and a control system for a hot forming process of a high-precision forging hydraulic press, which belong to the technical field of metal hot forming and are characterized by comprising the following steps of: firstly, rapidly descending a sliding block; secondly, the sliding block descends at a reduced speed; thirdly, the sliding block descends at a low speed; and fourthly, enabling the slide block to approach the workpiece at a set speed at a constant speed, keeping the control mode of the slide block at the initial stage of pressing the workpiece unchanged, continuously adopting speed closed-loop control on the slide block, switching the control mode of the ejection mechanism to pressure closed-loop control when the pressure of the slide block reaches a certain proportion of the set pressure, acquiring a pressure value by using a pressure sensor as an input signal, and using an actuating mechanism as a lower cavity servo valve. By adopting the technical scheme, the invention realizes the process forming method of the titanium alloy product by designing the electro-hydraulic control system of the hot extrusion forming hydraulic press and controlling elements such as the high-frequency response proportional valve, the frequency converter, the pump set and the like by PLC programming, thereby improving the control precision of the pressure and the pressure building speed of the hydraulic press.
Description
Technical Field
The invention belongs to the technical field of metal hot forming, and particularly relates to a control method and a control system for a hot forming process of a high-precision hydraulic forging press.
Background
As is well known, the titanium alloy has the excellent performances of small density, high temperature resistance, no magnetism, high specific strength and the like, and is widely applied to high-end equipment of military and civil aircrafts. With the rapid development of the aerospace industry, the utilization rate of titanium alloy is higher and higher, and the titanium alloy proportion of some foreign military airplanes is more than 40%. However, the utilization rate of the titanium alloy is low at home at present, and part of the reasons are that the processing cost of the titanium alloy is too high because the forming process and related equipment of the titanium alloy have great difference with foreign countries; therefore, how to improve the yield of the material becomes more important, and an effective solution is provided by accurately controlling the forming process of the material.
Disclosure of Invention
The invention provides a control method and a control system for a hot forming process of a high-precision forging hydraulic press, aiming at solving the technical problems in the prior art.
The invention aims to provide a control method of a hot forming process of a high-precision forging hydraulic press, which comprises the following steps:
firstly, a slide block rapidly descends, a slide block oil cylinder lower cavity valve group is opened to enable oil in a lower cavity to flow back to an oil tank, and oil in a power oil tank is sucked in an oil cylinder upper cavity through a liquid filling valve under the action of atmospheric pressure; at the moment, the self weight of the sliding block is taken as the power to move freely in a falling body; after the fast-down action starts, the oil pump simultaneously pumps the hydraulic oil into the upper cavity of the sliding block cylinder;
at this time, the hydraulic valve YA20 is used for opening and discharging oil at the fast lower part, the main pump starts to supply oil to the main cylinder, and the frequency converter starts to accelerate the motor M1 to the rotating speed matched with the expected speed;
secondly, the slide block decelerates and descends, a linear adjusting servo valve YAA opening is reversely pushed upwards from a certain distance to a slow lower opening at a slow lower position set by the formula, and the deceleration distance is adjusted according to the real-time speed of the slide block and the set slow lower speed;
step three, the slide block descends at a low speed, when the slide block descends below a set low-speed descending position, the output frequency of the frequency converter is a theoretical calculation value converted by a set speed, at the moment, a slide block speed adjusting closed loop is opened, the slide block speed is input, the frequency of the frequency converter is output, and the slide block speed is controlled within a small deviation;
and step four, the slide block approaches the workpiece at a set speed at a constant speed, the control mode of the slide block at the initial stage of workpiece pressing is unchanged, the slide block continues to adopt speed closed-loop control, when the pressure of the slide block reaches a certain proportion of the set pressure, the control mode of the ejection mechanism is switched to pressure closed-loop control, an input signal is BP2 to acquire a pressure value, and the execution mechanism is a lower cavity servo valve YAB.
Further, in step one, the inverter starts accelerating the motor M1 to a speed matching the desired speed: the inverter begins to accelerate motor M1 to 80% of the rated frequency.
Further, the second step is specifically: and detecting the difference between the speed of the slide block and the set slow-down speed and the deviation value between the current position of the slide block and the set slow-down position in real time in the process of the slide block going fast down, and starting to decelerate when the position deviation value enters a deceleration interval.
Further, the starting deceleration is: and linearly reducing the output frequency of the frequency converter from the fast initial frequency to the slow calculation frequency value corresponding to the set speed.
The second purpose of the invention is to provide a control system of a hot forming process of a high-precision forging hydraulic press, which comprises the following components:
a fast downlink control module: the slide block rapidly descends, a slide block oil cylinder lower cavity valve group is opened to enable oil in a lower cavity to flow back to the oil tank, and under the action of atmospheric pressure, an oil cylinder upper cavity sucks oil in the power oil tank through a liquid filling valve; at the moment, the self weight of the sliding block is taken as the power to move freely in a falling body; after the fast-down action starts, the oil pump simultaneously pumps the hydraulic oil into the upper cavity of the sliding block cylinder;
at this time, the hydraulic valve YA20 for fast descending is opened and discharges oil, the main pump starts to supply oil to the main cylinder, and the frequency converter starts to accelerate the motor M1 to a rotating speed matched with the expected speed;
a deceleration downlink control module: the slide block decelerates and descends, a linear adjusting servo valve YAA opening is reversely pushed upwards from a certain distance to a slow lower opening at the slow lower position set by the formula, and the deceleration distance is adjusted according to the real-time speed of the slide block and the set slow lower speed;
a slow downlink control module: when the slide block descends to a position below a set slow descending position, the output frequency of the frequency converter is a theoretical calculation value converted by a set speed, at the moment, a slide block speed regulation closed loop is opened, the input is the slide block speed, the output is the frequency of the frequency converter, and the slide block speed is controlled within a small deviation;
the uniform-speed pressing control module: the slide block approaches a workpiece at a set speed at a constant speed, the control mode of the slide block at the initial stage of pressing the workpiece is unchanged, the slide block continues to adopt speed closed-loop control, when the pressure of the slide block reaches a certain proportion of the set pressure, the control mode of the ejection mechanism is switched to pressure closed-loop control, an input signal is BP2 to acquire a pressure value, and the execution mechanism is a lower cavity servo valve YAB.
Further, in the fast down control module, the frequency converter starts accelerating the motor M1 to a speed matching the desired speed: the inverter begins to accelerate motor M1 to 80% of the rated frequency.
Further, the deceleration downlink control module specifically comprises: and detecting the difference between the speed of the sliding block and the set slow speed and the deviation value between the current position of the sliding block and the set slow position in real time in the process of the sliding block going fast, and starting to decelerate when the position deviation value enters a deceleration interval.
Further, the starting deceleration is: and linearly reducing the output frequency of the frequency converter from the fast initial frequency to the slow calculation frequency value corresponding to the set speed.
The invention has the advantages and positive effects that:
the invention realizes the process forming method of titanium alloy products by designing the electro-hydraulic control system of the hot extrusion forming hydraulic press and controlling elements such as a high-frequency response proportional valve, a frequency converter, a pump set and the like by PLC programming, improves the control precision of the pressure and the pressure of the hydraulic press, and adopts the control mode to ensure that the working speed precision of the hydraulic press is 0.1mm/s and the pressure control precision is +/-1 percent.
By adopting the technical scheme, the product quality and the yield are improved, meanwhile, the stable conversion of the position and the speed of the upward pressing after the sliding block descends to contact with the workpiece is realized, and the sliding block pressure is quickly and stably established through a proper control mode. The process control can improve the deformation uniformity of the workpiece, improve the toughness and reduce the residual stress, and has very important significance for the forming of the workpiece.
Drawings
FIG. 1 is a hydraulic schematic diagram of a hot extrusion molding hydraulic press;
FIG. 2 is a diagram of a control system of an isothermal forging thermoforming hydraulic press;
FIG. 3 is a diagram of a slider deceleration descending control mode;
fig. 4 is a diagram showing the relationship between the switching of the jack cylinder control method and the pressure setting.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
as shown in fig. 1 to 4, the technical solution of the present invention is:
a control method for a hot forming process of a high-precision forging hydraulic press comprises the following steps:
firstly, the slide block descends rapidly, a lower cavity valve group of the slide block oil cylinder is opened to enable oil in the lower cavity to flow back to the oil tank, and oil in the power oil tank is sucked in from an upper cavity of the oil cylinder through a liquid filling valve under the action of atmospheric pressure. At the moment, the self-weight of the sliding block is used as the power to move freely in a falling body. In order to reduce the possible jitter of the slow down switching of the next stage, the oil pump simultaneously pumps oil into the upper cavity of the slide block cylinder after the fast down action is started.
At this time, the hydraulic valve YA20 is opened at the fast-descent and oil is discharged, the main pump starts to supply oil to the main cylinder (the phenomenon that the main pump stops supplying oil due to the fact that the main pump group does not respond in time in the pressing process is prevented, the main pump starts to supply oil from the fast-descent stage), and the frequency converter starts to accelerate the motor M1 to the rotating speed matched with the expected speed, such as 80% of the rated frequency, so that the preparation is made for the pressing stage.
And step two, the sliding block decelerates and descends, a certain distance is reversely pushed upwards from the slow lower position set by the formula to start linear adjustment of the opening of the servo valve YAA to the slow lower opening, and the deceleration distance is adjusted according to the real-time speed and the set slow lower speed of the sliding block, so that the sliding block can be smoothly switched between the fast lower speed and the slow lower speed, and the flexibility of the system is improved. The concrete implementation is as follows: and detecting the difference between the speed of the slide block and the set slow-down speed and the deviation between the current position of the slide block and the set slow-down position in real time in the process of the slide block moving fast down. When the position deviation value enters the deceleration interval shown in fig. 3, deceleration is started, that is, the output frequency of the frequency converter is linearly reduced from the fast initial frequency to the slow calculated frequency corresponding to the set speed.
And step three, the slide block descends at a low speed, when the slide block descends below a set low-speed descending position, the output frequency of the frequency converter is a theoretical calculation value converted from the set speed, the speed of the slide block is close to the set speed at the moment, a certain deviation possibly exists between the speed of the slide block and an actual set value, at the moment, a slide block speed adjusting closed loop is opened, the speed of the slide block is input, the frequency of the frequency converter is output, and the speed of the slide block is controlled within a small deviation.
And step four, the slide block approaches the workpiece at a set speed at a constant speed, the control mode of the slide block at the initial stage of workpiece pressing is unchanged, namely the ejection mechanism keeps still, the slide block continues to adopt speed closed-loop control, the control mode of the ejection mechanism is switched to pressure closed-loop control when the pressure of the slide block reaches a certain proportion of the set pressure, an input signal is BP2 to acquire a pressure value, the execution mechanism is a lower cavity servo valve YAB, at the moment, the workpiece pressure is quickly established, and the adjustment time is short.
Because the system is short in low pressure building time and long in high pressure building time, the switching point of the ejection mechanism switching pressure closed loop is determined according to the set pressure, if small pressure is needed and the switching point is too high, the situation that pressure overshoot is serious can occur, and if the required pressure is large and the switching point is too early, the situation that the time for reaching the required pressure is too long can occur. The control method adopts a dynamic switching mode, takes the demand pressure and the pressure building time into consideration, and the specific switching point is shown in figure 4. In the figure, the horizontal axis represents the ratio of the set pressure to the maximum working pressure of the equipment, and the vertical axis represents the ratio of the control mode switching pressure to the set pressure. Taking the point (50, 50) as an example, assuming that the maximum operating pressure of the system is 25MPa, and when the set pressure is 25 × 50% to 12.5MPa, the slider instantaneous pressure at the time of switching the control scheme is 12.5 × 50% MPa, it can be seen from the figure that the switching pressure is larger as the set pressure is larger, and the balance between the pressure build-up pressure overshoot and the pressure build-up time can be considered at the same time.
A control system for a hot forming process of a high-precision forging hydraulic press comprises:
a fast downlink control module: the slide block moves down rapidly, the valve group of the lower cavity of the slide block oil cylinder is opened to enable oil in the lower cavity to flow back to the oil tank, and oil in the power oil tank is sucked in by the upper cavity of the oil cylinder through the liquid filling valve under the action of atmospheric pressure. At the moment, the self-weight of the sliding block is used as the power to move freely in a falling body. In order to reduce the possible shaking of the slow down switching in the next stage, the oil pump pumps the hydraulic oil into the upper cavity of the slide block cylinder simultaneously after the fast down action is started.
At this time, the hydraulic valve YA20 is opened at the fast-descent and oil is discharged, the main pump starts to supply oil to the main cylinder (the phenomenon that the main pump stops supplying oil due to the fact that the main pump group does not respond in time in the pressing process is prevented, the main pump starts to supply oil from the fast-descent stage), and the frequency converter starts to accelerate the motor M1 to the rotating speed matched with the expected speed, such as 80% of the rated frequency, so that the preparation is made for the pressing stage.
A deceleration downlink control module: the slide block decelerates and descends, a linear adjusting servo valve YAA opening is reversely pushed upwards from a certain distance to a slow lower opening at a slow lower position set by a formula, and the deceleration distance is adjusted according to the real-time speed and the set slow lower speed of the slide block, so that the slide block speed can be smoothly switched between the fast lower speed and the slow lower speed, and the flexibility of the system is improved. The concrete implementation is as follows: and detecting the difference value between the speed of the sliding block and the set slow-down speed and the difference value between the current position of the sliding block and the set slow-down position in real time in the process of the sliding block moving fast down. When the position deviation value enters the deceleration interval shown in fig. 3, deceleration is started, that is, the output frequency of the frequency converter is linearly reduced from the fast initial frequency to the slow calculated frequency corresponding to the set speed.
A slow downlink control module: and when the slide block descends to a position below the set slow descending position, the output frequency of the frequency converter is a theoretical calculation value converted by the set speed, the speed of the slide block is close to the set speed at the moment, a certain deviation possibly exists between the slide block and an actual set value, at the moment, a slide block speed regulation closed loop is opened, the slide block speed is input, the frequency of the frequency converter is output, and the slide block speed is controlled within a small deviation.
The uniform-speed pressing control module: the slide block approaches a workpiece at a set speed at a constant speed, the control mode of the slide block at the initial stage of workpiece pressing is unchanged, namely the ejection mechanism keeps still, the slide block continues to adopt speed closed-loop control, the control mode of the ejection mechanism is switched to pressure closed-loop control when the pressure of the slide block reaches a certain proportion of the set pressure, an input signal is a BP2 collected pressure value, the execution mechanism is a lower cavity servo valve YAB, at the moment, the workpiece pressure is quickly established, and the adjustment time is short.
Because the system is short in low pressure building time and long in high pressure building time, the switching point of the ejection mechanism switching pressure closed loop is determined according to the set pressure, if small pressure is needed and the switching point is too high, the situation that pressure overshoot is serious can occur, and if the required pressure is large and the switching point is too early, the situation that the time for reaching the required pressure is too long can occur. The control method adopts a dynamic switching mode, takes the demand pressure and the pressure building time into consideration, and the specific switching point is shown in figure 4. In the figure, the horizontal axis represents the ratio of the set pressure to the maximum working pressure of the equipment, and the vertical axis represents the ratio of the control mode switching pressure to the set pressure. Taking the point (50, 50) as an example, assuming that the maximum operating pressure of the system is 25MPa, and when the set pressure is 25 × 50% to 12.5MPa, the slider instantaneous pressure at the time of switching the control scheme is 12.5 × 50% MPa, it can be seen from the figure that the switching pressure is larger as the set pressure is larger, and the balance between the pressure build-up pressure overshoot and the pressure build-up time can be considered at the same time.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (2)
1. A control method of a hot forming process of a high-precision forging hydraulic press is characterized by comprising the following steps:
the control method at least comprises the following steps:
firstly, a slide block rapidly descends, a slide block oil cylinder lower cavity valve group is opened to enable oil in a lower cavity to flow back to an oil tank, and oil in a power oil tank is sucked in an oil cylinder upper cavity through a liquid filling valve under the action of atmospheric pressure; at the moment, the self weight of the sliding block is taken as the power to freely fall and move; after the fast-down action starts, the oil pump simultaneously pumps the hydraulic oil into the upper cavity of the sliding block cylinder;
at the moment, the hydraulic valve is opened at the fast lower part and discharges oil, the main pump starts to supply oil to the main cylinder, and the frequency converter starts to accelerate the motor to the rotating speed matched with the expected speed;
secondly, the sliding block decelerates and descends, a linear adjusting servo valve opening is reversely pushed upwards to a slow lower opening at a set slow lower position for a certain distance, and the deceleration distance is adjusted according to the real-time speed of the sliding block and the set slow lower speed; detecting a difference value between the speed of the sliding block and a set slow speed and a deviation value between the current position of the sliding block and a set slow position in real time in the process of the sliding block going fast, and starting to decelerate when the position deviation value enters a deceleration interval; the starting deceleration is: linearly reducing the output frequency of the frequency converter from the fast initial frequency to the slow calculated frequency value corresponding to the set speed;
step three, the slide block descends at a low speed, when the slide block descends below a set low-speed descending position, the output frequency of the frequency converter is a theoretical calculation value converted by a set speed, at the moment, a slide block speed adjusting closed loop is opened, the slide block speed is input, the frequency of the frequency converter is output, and the slide block speed is controlled within a small deviation;
and step four, enabling the slide block to approach the workpiece at a set speed at a constant speed, keeping the control mode of the slide block at the initial stage of pressing the workpiece unchanged, continuously adopting speed closed-loop control on the slide block, switching the control mode of the ejection mechanism to pressure closed-loop control when the pressure of the slide block reaches a certain proportion of the set pressure, acquiring a pressure value by using a pressure sensor as an input signal, and using an actuating mechanism as a lower cavity servo valve.
2. A control system of a hot forming process of a high-precision forging hydraulic press is characterized in that,
the control system at least comprises:
a fast downlink control module: the slide block rapidly descends, a slide block oil cylinder lower cavity valve group is opened to enable oil in a lower cavity to flow back to the oil tank, and under the action of atmospheric pressure, oil in the power oil tank is sucked into an upper oil cylinder cavity through a liquid filling valve; at the moment, the self weight of the sliding block is taken as the power to move freely in a falling body; after the fast-down action starts, the oil pump simultaneously pumps the hydraulic oil into the upper cavity of the sliding block cylinder;
at the moment, the hydraulic valve is opened at the fast lower part and discharges oil, the main pump starts to supply oil to the main cylinder, and the frequency converter starts to accelerate the motor to the rotating speed matched with the expected speed;
a deceleration downlink control module: the slide block decelerates and descends, a linear adjusting servo valve opening is reversely pushed upwards at a set slow lower position for a certain distance to start to be adjusted to a slow lower opening, and the deceleration distance is adjusted according to the real-time speed of the slide block and the set slow lower speed; the deceleration downlink control module specifically comprises: detecting a difference value between the speed of the sliding block and a set slow-down speed and a deviation value between the current position of the sliding block and a set slow-down position in real time in the process of the sliding block going down quickly, and starting to decelerate when the position deviation value enters a deceleration interval; the starting deceleration is: linearly reducing the output frequency of the frequency converter from the initial frequency at a high speed to a calculation frequency value corresponding to the set speed at a low speed;
a slow downlink control module: when the sliding block descends to a position below a set slow descending position, the output frequency of the frequency converter is a theoretical calculation value converted by a set speed, at the moment, a sliding block speed adjusting closed loop is opened, the sliding block speed is input, the frequency of the frequency converter is output, and the sliding block speed is controlled within a smaller deviation;
the uniform-speed pressing control module: the slide block approaches to a workpiece at a set speed at a constant speed, the control mode of the slide block at the initial stage of pressing the workpiece is unchanged, the slide block continues to adopt speed closed-loop control, when the pressure of the slide block reaches a certain proportion of the set pressure, the control mode of the ejection mechanism is switched to pressure closed-loop control, an input signal is a pressure value acquired by a pressure sensor, and the actuating mechanism is a lower cavity servo valve.
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