CN112859735B - JCO forming tubular online closed-loop control method, system and device - Google Patents
JCO forming tubular online closed-loop control method, system and device Download PDFInfo
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- CN112859735B CN112859735B CN202011626362.3A CN202011626362A CN112859735B CN 112859735 B CN112859735 B CN 112859735B CN 202011626362 A CN202011626362 A CN 202011626362A CN 112859735 B CN112859735 B CN 112859735B
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention belongs to the technical field of steel pipe manufacturing, and particularly relates to a JCO forming pipe shape online closed-loop control method, system and device, aiming at solving the problems that the deformation condition of a steel plate cannot be detected in real time and the forming process parameters cannot be adjusted online in real time in the JCO forming process in the prior art. The application provides a JCO forming tubular online closed-loop control method, which can simulate the rolling reduction of each pressing in the steel plate pressing forming process; collecting the cross section data of the steel plate press forming in the JCO forming process in real time, and then fitting a formed actual contour; and comparing the formed actual contour with the theoretical contour model through a reduction adjustment feedback system, predicting the reduction formed in the next step, and enabling the formed pipe shape to approach the ideal pipe shape set by the process. The closed-loop control of the steel pipe forming pipe shape can be realized, the steel pipe forming precision is guaranteed, the steel pipe forming efficiency and the forming quality are improved, and the labor intensity of constructors is reduced.
Description
Technical Field
The invention belongs to the technical field of steel pipe manufacturing, and particularly relates to a JCO forming pipe shape online closed-loop control method, system and device.
Background
For high-grade steel thick-wall longitudinal submerged arc welded pipes, the accurate circumference and good roundness of each steel pipe can effectively control the size and shape requirements of the formed pipe, meet the full-automatic welding requirements of steel pipe butt joint in pipeline construction sites, and ensure the quality of welding seams. JCO forming is a key process for manufacturing large-diameter longitudinal submerged arc welded pipes, the roundness precision of each steel pipe is determined by JCO forming precision, and at present, JCO forming of domestic enterprises determines forming process parameters based on theoretical calculation plus manual experience correction.
Because the mechanical properties of the steel plates are different between the same plate and the different between the plates, the deformation of the steel plates cannot be completely the same when the steel plates are pressed by adopting the same forming process parameters, currently used JCO forming equipment does not have the function of detecting the deformation of the steel plates on line, the actual deformation of the steel plates after each step of pressing cannot be known exactly, and the automatic adjustment cannot be carried out according to the actual deformation condition after each step of pressing in the continuous forming process of one steel pipe so as to ensure the forming precision. In the actual production process, workers are required to constantly observe and measure, and the forming precision of the steel pipe depends on the consistency of the properties of raw materials and the experience of the workers, so that the stability of the forming precision of the JCO formed pipe is difficult to ensure.
Therefore, the steel plate deformation condition is detected in real time based on the JCO forming process, the open pipe shape of the steel pipe is predicted, the forming process parameters are adjusted on line in real time, and the steel pipe forming pipe shape online closed-loop control system is improved, so that the method is an effective method for solving the forming precision of the steel pipe.
Disclosure of Invention
In order to solve the above problems in the prior art, i.e. to solve the above problems in the prior art, the present invention provides an online closed-loop control method for a JCO molded tube shape, comprising the following steps:
step S100, obtaining deformation data of the deformed steel plate to be formed based on the size and the mechanical property parameters of the steel plate to be formed, and determining a preset forming profile, preset pressing passes and a preset rolling reduction of each pressing pass of a preset steel pipe based on the deformation data; the deformation data comprise stress, strain, deformation and resilience of the deformed steel plate to be formed;
step S200, pressing the steel plate to be formed according to the preset reduction, acquiring forming section data of the steel plate to be formed in the pressing forming process, and fitting an actual forming contour of the steel plate to be formed; the profiled cross-sectional data comprises profile data;
step S300, comparing the fitted actual forming contour with a preset forming contour to obtain a curling angle difference value of the actual forming contour and the preset forming contour;
step S400, adjusting the reduction of the next pressing pass according to a preset adjustment rule according to the difference value of the curling angle obtained in the step S300 until the pressing of all the pressing passes is finished; the preset adjustment rule is a mapping relation between the crimping angle difference value and the rolling reduction of the next pressing pass.
In some preferred technical solutions, the profile data includes straight line segments and circular arc segments, the two straight line segments are located at two ends of the circular arc segment respectively, an included angle between the straight line segments at two sides of the circular arc segment is a curl angle, and the method of obtaining a curl angle difference between an actual molded profile and a preset molded profile in step S300 includes:
step S310, separating out straight line segment data and circular arc segment data based on the contour data of each pressing pass;
step S320, calculating an included angle between the two straight line segments according to the straight line segment data based on a preset operation rule;
and step S330, determining the difference value between the curling angle of the actual forming profile of the current pressing pass and the theoretical curling angle based on the included angle obtained in the step S320.
In some preferable technical solutions, the preset operation rule includes a least square method, an equation of a straight line segment in the profile data is fitted by the least square method according to the coordinates of the straight line segment, and an included angle between the two straight line segments is calculated.
In some preferred embodiments, the mechanical property parameters of the steel plate to be formed in step S100 include one or more of tensile strength, bending strength, yield strength, elongation, reduction of area, impact toughness, and poisson' S ratio.
In some preferred embodiments, the method for "acquiring deformation data after deformation of the steel plate to be formed" in step S100 is acquired through finite element analysis.
In some preferred technical solutions, the method for "acquiring forming section data of a steel plate to be formed in the press forming process" in step S200 is: and acquiring by a laser vision sensor.
In some preferred technical schemes, the parameter linearity deviation of the laser vision sensor is 200 μm, and the detection speed is v, v epsilon (200 times/s, 4000 times/s).
The invention provides a JCO forming tubular online closed-loop control system, which comprises a numerical simulation module, an execution module, an image acquisition module and a closed-loop feedback module, wherein the execution module is used for executing a numerical simulation operation;
the numerical simulation module is configured to calculate and obtain a preset forming profile, preset pressing passes and a preset reduction of each pressing pass of a preset steel pipe based on mechanical property parameters of a steel plate to be formed;
the execution module is configured to perform rolling forming processing on the steel plate to be formed based on a preset forming profile, preset pressing passes and a preset reduction of each pressing pass;
the image acquisition module is configured to acquire forming section data of a steel plate to be formed in the press forming process and send the acquired forming section data to the closed-loop feedback module;
the closed-loop feedback module is configured to obtain a difference value of a curling angle between an actual forming profile and a preset forming profile of the steel plate to be formed based on the forming section data of the current pressing pass, and control the execution module according to a preset adjustment rule to adjust the reduction of the next pressing pass until the pressing of all the pressing passes is completed.
A third aspect of the present invention provides a storage device, in which a plurality of programs are stored, the programs being suitable for being loaded and executed by a processor to implement the JCO forming tubular online closed-loop control method according to any one of the above-mentioned technical solutions.
A fourth aspect of the present invention provides a processing apparatus, comprising a processor, a storage device; a processor adapted to execute various programs; a storage device adapted to store a plurality of programs; wherein the program is suitable for being loaded and executed by a processor to realize the JCO forming tubular online closed-loop control method according to any one of the above technical solutions.
The invention has the beneficial effects that:
the invention simulates the reduction of each pressing in the process of steel plate press forming through finite element analysis; acquiring the cross section data of the steel plate in the compression molding process of the JCO in real time through a high-speed laser vision sensor, and then fitting a molded actual contour through tubular fitting software; and comparing the formed actual crimping angle with the theoretical crimping angle through a reduction adjustment feedback system, predicting the reduction of the next step of forming, and enabling the formed tube shape to approach the ideal tube shape set by the process. According to the method and the device, the deformation condition of the steel plate can be detected in real time in the JCO forming process, the pipe shape of the steel pipe is predicted, the online real-time adjustment of forming process parameters is realized, the closed-loop control of the pipe shape of the steel pipe is finally realized, the forming precision of the steel pipe is ensured, the forming efficiency and the forming quality of the steel pipe are improved, and the labor intensity of constructors is reduced.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic flow chart of a JCO forming tubular online closed-loop control method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an on-line closed-loop control system for forming a tubular JCO article according to an embodiment of the present invention;
FIG. 3 is a first diagram illustrating finite element simulation according to an embodiment of the present invention;
FIG. 4 is a second diagram illustrating finite element simulation according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional profile taken after pressing in one embodiment of the present invention;
FIG. 6 is a graphical representation of correlation coefficients of profile data in accordance with an embodiment of the present invention;
list of reference numerals:
1, mounting a mold; 2-lower mould; 3-laser vision sensor; 4-a steel plate to be formed; 5-a central control system.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention relates to a JCO forming tubular online closed-loop control method, which specifically comprises the following steps:
step S100, obtaining deformation data of the deformed steel plate to be formed based on the size and the mechanical property parameters of the steel plate to be formed, and determining a preset forming profile, preset pressing passes and a preset rolling reduction of each pressing pass of a preset steel pipe based on the deformation data; the deformation data comprise stress, strain, deformation and resilience of the deformed steel plate to be formed;
step S200, pressing the steel plate to be formed according to the preset reduction, acquiring forming section data of the steel plate to be formed in the pressing forming process, fitting an actual forming contour of the steel plate to be formed, and calculating an included angle between two straight line sections in the actual forming contour of each pressing pass, namely a curling angle, wherein the included angle is a curling angle; the profiled cross-sectional data comprises profile data including length, value, coordinates, curvature, slope, etc. of the profile;
step S300, comparing the fitted actual forming contour with a preset forming contour to obtain a curling angle difference value of the actual forming contour and the preset forming contour;
step S400, adjusting the reduction of the next pressing pass according to a preset adjustment rule according to the difference value of the curling angle obtained in the step S300 until the pressing of all the pressing passes is finished; the preset adjustment rule is a mapping relation between the crimping angle difference value and the rolling reduction of the next pressing pass.
In the prior art, after the same batch of steel plates are transported to a processing site, an appropriate amount of samples are required to be subjected to trial processing to obtain an average value, for example, if 200 steel plates to be formed are pressed into a steel pipe in total, 5 steel plates are selected to be subjected to trial processing to obtain an average appropriate processing value. And then based on the obtained processing numerical value, the steel plates of the same batch are produced in large batch, and even if each steel plate is the same in material, the same in size and the same in steel grade, the difference can exist in the actual forming production process.
In order to more clearly explain the method for online closed-loop control of the JCO formed tubular shape of the present invention, a preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings.
As a preferred embodiment of the invention, the JCO forming tubular on-line closed-loop control method of the invention is shown in figure 1 and comprises the following steps:
step S100, acquiring the size and the mechanical property parameters of the steel plate to be formed, acquiring deformation data of the deformed steel plate to be formed based on the size and the mechanical property parameters of the steel plate to be formed, and determining a preset forming profile of a preset steel pipe, preset pressing passes and preset rolling reduction of each pressing pass based on the deformation data. Specifically, the size of the steel plate to be formed comprises length, width and thickness; the mechanical property parameters comprise one or more of tensile strength, bending strength, yield strength, elongation, reduction of area, impact toughness and Poisson's ratio.
Further, the deformation data of the deformed steel plate to be formed comprises stress, strain, deformation and resilience of the deformed steel plate to be formed; the acquisition method comprises the steps of inputting mechanical property parameters and dimensions of the steel plate into finite element analysis software (such as ABAQUS), and then carrying out numerical simulation on the forming process of the steel plate to be formed to obtain data such as stress, strain, deformation, resilience and the like of the deformed steel plate. And then, obtaining a preset forming profile, preset pressing passes and a preset reduction of each pressing pass of the preset steel pipe formed by the steel plate to be formed.
The present application uses finite element analysis software to simulate the ideal forming shape after each step of pressing, i.e. simulate the ideal forming shape after each step of pressing of an ideal circle, as shown in fig. 3, and then press the ideal forming shape when considering the rebound deformation in the pressing process, even if the pressed shape is consistent with the simulated ideal forming shape when not considering the rebound deformation, thereby determining the pressing amount required by the actual pressing, see fig. 4.
Step S200, the central control system 5 operates the JCO forming system to press the steel plate to be formed according to the preset rolling reduction obtained in step S100, and it can be understood that in the present application, the steel plate is gradually curled to approach a circle through multiple pressing, so as to form a fitting circle. The forming section data of the steel plate to be formed in each pressing pass in the pressing forming process is collected in real time through the high-speed laser vision sensor 3, and the actual forming contour of the steel plate to be formed 4 is fitted through tubular fitting software (such as CurveExpert curve fitting software). In the preferred embodiment of the present application, the laser vision sensor 3 has a linear deviation of the parameters of 200 μm and a detection rate v, v ∈ (200 times/s, 4000 times/s). Furthermore, the Z-axis resolution of the laser vision sensor is 12.4-160 μm, and the X-axis resolution is 68-246 μm. It can be understood that the central control system 5 is a computer, and the tubular fitting software, the image processing software, the JCO forming system, the reduction feedback adjustment system and the like are stored in the central control system.
It is understood that the high-speed laser vision sensor is only one application example of the present application, and those skilled in the art can also acquire the section data of the steel plate in the press forming process according to other image acquisition devices, such as an industrial CT or CCD camera. Wherein the profiled cross-sectional data comprises profile data; preferably, the actual profile data of the steel plate to be formed in the forming process comprises an arc section and straight line segments, the number of the arc sections in the actual profile data of the preset steel pipe obtained after the steel plate is formed is the same as the pressing pass, namely, one arc section can be obtained by pressing once, specifically referring to fig. 2, the JCO forming system in the application comprises an upper die 1 and a lower die 2, wherein the acting surface of the upper die 1 comprises an arc surface protruding towards the direction of the lower die 2, the arc surface of the upper die 1 is abutted against the steel plate 4 to be formed when the steel plate 4 to be formed is pressed by the upper die 1, pressure is applied to enable the steel plate to be curled and form the arc section, the profile of the part of the upper die 1, which is not in contact with the steel plate 4 to be formed, is the straight line segments, the two straight line segments are respectively located at two ends of the arc section, and the curling angle is the included angle between the two straight line segments.
And step S300, comparing the fitted actual forming contour with a preset forming contour, namely comparing the fitted actual forming curling angle with a preset curling angle, and acquiring the difference value between the actual forming curling angle and the preset curling angle.
Specifically, the method for obtaining the difference between the crimping angles of the actual forming profile and the preset forming profile includes:
step S310, determining straight line segment data and circular arc segment data in the contour data based on the contour data of each pressing pass;
step S320, calculating an included angle between two straight line segments based on a preset operation rule according to the straight line segment data, namely calculating a curl angle based on the preset operation rule; specifically, the preset operation rule comprises a least square method, and an equation of a straight line segment in the profile data is fitted by the least square method according to the x coordinate and the y coordinate data of the straight line segment:
y＝kx+a
where k is the slope of the fitted line and a is the intercept.
Wherein the slope k is:
wherein xi is the x coordinate of the ith discrete point, yi is the y coordinate of the ith discrete point, n is the number of data points,
is the average of the x-coordinates of the discrete points,
is the average of the y coordinates of the discrete points. By the method, the slope k of the first straight line segment in the profile data under each pressing pass can be respectively calculated1And a second straight line segment slope k2。
Calculating an acute angle alpha included by the straight line segments on the two sides of the circular arc section according to the linear regression as follows:
α＝|tan-1k1-tan-1k2|
wherein k is1Is the slope of the first straight line segment, k2The slope of the second straight line segment.
And step S330, determining the difference value between the curling angle of the actual forming contour of the current pressing pass and the curling angle of the theoretical forming contour based on the included angle obtained in the step S320.
Step S400, adjusting the reduction of the next pressing pass according to a preset adjustment rule according to the difference value of the curling angle obtained in the step S300 until the pressing of all the pressing passes is finished; the preset adjustment rule is a mapping relation between the crimping angle difference value and the rolling reduction of the next pressing pass. Compared with a machining method for measuring chord height in the prior art, the method for acquiring the crimping angle difference value of the actual forming profile and the preset forming profile is more accurate, and the machining precision can be improved through real-time crimping angle comparison.
In other preferred embodiments, the reduction per press pass can also be adjusted by the skilled person by taking the difference in radius between the actual profile and the preset profile. Specifically, based on the sideline data of each pressing pass, determining the center coordinates of the arc sections in the sideline data; calculating an included angle between the two straight line segments and the radius of a circle where the circular arc segment is located based on a preset operation rule according to the central coordinate of the circular arc segment; specifically, the preset operation rule comprises a least square method, an equation of a straight line segment and an equation of a circle where the circular arc segment is located in the sideline data are fitted through the least square method according to the central coordinate of the circular arc segment, and an included angle between the two straight line segments and the radius of the circle where the circular arc segment is located are calculated. And determining the radius and the center coordinate of a fitting circle where the actual forming profile of the current pressing pass is located based on the obtained included angle and the radius, and obtaining the difference value of the radius and the center coordinate difference value of the fitting circle where the actual forming profile of the current pressing pass is located and the preset forming profile. Adjusting the reduction of the next pressing pass according to the obtained radius difference and the circle center coordinate difference and a preset adjustment rule until the pressing of all the pressing passes is finished; the preset adjustment rules are the mapping relation between the radius difference and the reduction of the next pressing pass and the mapping relation between the circle center coordinate difference and the reduction of the next pressing pass.
The second aspect of the application provides a preferred embodiment of a JCO molded tubular online closed-loop control system, which comprises a central control system 5, wherein a numerical simulation module and a closed-loop feedback module are stored in the central control system 5, and the central control system can be respectively in communication connection with an execution module and an image acquisition module;
the numerical simulation module is configured to calculate and obtain a preset forming profile, preset pressing passes and preset rolling reduction of each pressing pass of a preset steel pipe based on mechanical property parameters of a steel plate to be formed;
the execution module is configured to control the steel plate 4 to be formed clamped between the upper die 1 and the lower die 2 to be subjected to JCO rolling forming processing based on the preset forming profile, the preset pressing pass and the preset reduction amount of each pressing pass;
the image acquisition module is configured to acquire forming section data of a steel plate to be formed in the press forming process and send the acquired forming section data to the closed-loop feedback module;
and the closed-loop feedback module is configured to obtain a crimping angle difference value between the actual forming profile and a preset forming profile of the steel plate to be formed based on the forming section data of the current pressing pass, and control the execution module according to a preset adjustment rule to adjust the rolling reduction of the next pressing pass until the pressing of all the pressing passes is completed.
Specifically, the numerical simulation module can simulate the pressing forming process through finite element software, and simulate the rolling reduction of each pressing. The image acquisition module comprises a high-speed laser vision sensor, a sensor power supply cable, a 24V power supply, a data transmission line, a computer, image processing software and the like. The steel plate compression molding cross section data can be collected in real time in the JCO molding process, and the data are sent to a closed loop feedback module, wherein the closed loop feedback module comprises tubular fitting software and a reduction adjustment feedback module, and can fit a molded actual contour through the tubular fitting software and calculate molding parameters; and comparing the formed actual contour with the theoretical contour model through the reduction adjustment feedback module, predicting a process parameter, namely the reduction, of the next step of forming, and enabling the formed pipe shape to approach the ideal pipe shape set by the process. The system detects the deformation condition of the steel plate in real time in the JCO forming process, predicts the pipe shape of the steel pipe, realizes online real-time adjustment of forming process parameters, and finally realizes closed-loop control of the pipe shape of the steel pipe. The rolling reduction adjusting feedback module compares an ideal shape given by the numerical simulation module when rebound deformation is considered with an actual forming shape calculated by fitting software to determine the rolling reduction of the next step, and feeds the rolling reduction back to a forming machine control system, so that closed-loop feedback is formed.
The vision sensor collects the shape of the deformed section of the steel plate in each step of the JCO forming process in real time, and transmits data to a computer through a network cable, the collected data are respectively an X coordinate value, a Y coordinate value and signal intensity of a measuring position, each pressed shape consists of three parts, namely a middle circular arc section and straight line sections on two sides of the circular arc, a pressed data collection curve is shown in figure 5, the part between the left long vertical line and the right long vertical line in the figure 5 is a circular arc section, and the part outside the two long vertical lines is two straight line sections.
The tubular fitting software separates straight line segments at two ends and a middle circular arc segment by performing correlation analysis on data, and finds the middle position of the formed circular arc, as shown in fig. 6, fig. 6 is a graph showing correlation coefficients of profile data in an embodiment of the present invention, wherein an abscissa represents a data point, an ordinate represents a correlation coefficient, a correlation coefficient close to 1 indicates that the point is located on the straight line segment, and a correlation coefficient is small and indicates that the point is located on the circular arc segment. And fitting an equation of a straight line by using tubular fitting software through a least square method, and calculating the included angle of the straight lines on two sides of the circular arc, thereby calculating the forming angle after each pressing.
The reduction adjustment feedback system compares an ideal shape given by the numerical simulation system when rebound deformation is considered with an actual forming shape calculated by fitting software, determines the reduction of the next step, and feeds the reduction back to a forming machine control system, thereby forming closed-loop feedback.
A third aspect of the present application provides a storage device having a plurality of programs stored therein, wherein the programs are adapted to be loaded and executed by a processor to implement the JCO forming tubular online closed-loop control method in the above embodiments.
A fourth aspect of the present application provides a processing apparatus, comprising a processor, a storage device; a processor adapted to execute various programs; a storage device adapted to store a plurality of programs; characterized in that the program is adapted to be loaded and executed by a processor to implement the JCO forming tubular on-line closed-loop control method in the above embodiments.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method examples, and are not described herein again.
In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:
according to the invention, the difference value of the curling angle in the outline is calculated by comparing the theoretical outline with the actually pressed outline, and is used as a basis for judging whether the theoretical reduction is proper or not, so that the forming precision is improved, the theoretical reduction of the next pressing pass is dynamically adjusted while the pressing of each pressing pass is detected, the geometric dimension of the inner arc after the pressing forming of each pressing pass can be closer to the theoretical value, and the formed pipe type has higher geometric dimension precision; the loss caused by poor pipe shape and scrapping is effectively reduced; according to the method, the model adjusting efficiency is effectively improved through the JCO forming tubular online closed-loop control system, and therefore the steel pipe forming efficiency is improved.
Those of skill in the art would appreciate that the various illustrative modules, method steps, and modules described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the software modules, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, 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, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (9)
1. A JCO forming tubular online closed-loop control method is characterized by comprising the following steps:
step S100, obtaining deformation data of the deformed steel plate to be formed based on the size and the mechanical property parameters of the steel plate to be formed, and determining a preset forming profile, preset pressing passes and a preset rolling reduction of each pressing pass of a preset steel pipe based on the deformation data; the deformation data comprise stress, strain, deformation and resilience of the deformed steel plate to be formed;
step S200, pressing the steel plate to be formed according to the preset reduction, acquiring forming section data of the steel plate to be formed in the pressing forming process, and fitting an actual forming contour of the steel plate to be formed; the molding section data comprises contour data, the contour data comprises straight line segments and circular arc segments, the two straight line segments are respectively positioned at two ends of the circular arc segments, and an included angle between the straight line segments at two sides of the circular arc segments is a curling angle;
step S300, comparing the fitted actual forming contour with a preset forming contour to obtain a curling angle difference value of the actual forming contour and the preset forming contour; the method for acquiring the crimping angle difference value between the actual forming contour and the preset forming contour comprises the following steps:
step S310, separating out straight line segment data and circular arc segment data based on the contour data of each pressing pass;
step S320, calculating an included angle between the two straight line segments according to the straight line segment data based on a preset operation rule;
step S330, determining the difference value between the curling angle of the actual forming profile of the current pressing pass and the theoretical curling angle based on the included angle obtained in the step S320;
step S400, adjusting the reduction of the next pressing pass according to a preset adjustment rule according to the difference value of the curling angle obtained in the step S300 until the pressing of all the pressing passes is finished; the preset adjustment rule is a mapping relation between the crimping angle difference value and the rolling reduction of the next pressing pass.
2. The JCO forming tubular online closed-loop control method according to claim 1, wherein the preset operation rule comprises a least square method, an equation of a straight line segment in the contour data is fitted through the least square method according to the coordinates of the straight line segment, and an included angle between the two straight line segments is calculated.
3. The JCO forming tubular online closed-loop control method according to claim 1, wherein the mechanical property parameters of the steel plate to be formed in the step S100 include one or more of tensile strength, bending strength, yield strength, elongation, reduction of area, impact toughness and Poisson' S ratio.
4. The JCO forming tubular online closed-loop control method according to claim 1, wherein the method for acquiring deformation data after deformation of the steel plate to be formed in the step S100 is acquired through finite element analysis.
5. The JCO forming tubular online closed-loop control method according to claim 1, wherein the step S200 of obtaining forming section data of the steel plate to be formed in the press forming process comprises the following steps: and acquiring by a laser vision sensor.
6. The JCO forming tube shape online closed-loop control method according to claim 5, wherein the parameter linear deviation of the laser vision sensor is 200 μm, and the detection rate is v, v ∈ (200/s, 4000/s).
7. A JCO forming tubular on-line closed-loop control system is characterized by comprising a numerical simulation module, an execution module, an image acquisition module and a closed-loop feedback module;
the numerical simulation module is configured to calculate and obtain a preset forming profile, preset pressing passes and a preset reduction of each pressing pass of a preset steel pipe based on mechanical property parameters of a steel plate to be formed;
the execution module is configured to perform rolling forming processing on the steel plate to be formed based on a preset forming profile, preset pressing passes and a preset reduction of each pressing pass;
the image acquisition module is configured to acquire forming section data of a steel plate to be formed in the press forming process and send the acquired forming section data to the closed-loop feedback module; the molding section data comprises contour data, the contour data comprises straight line segments and circular arc segments, the two straight line segments are respectively positioned at two ends of the circular arc segments, and an included angle between the straight line segments at two sides of the circular arc segments is a curling angle;
the closed-loop feedback module is configured to obtain a crimping angle difference value between an actual forming profile and a preset forming profile of the steel plate to be formed based on the forming section data of the current pressing pass, and control the execution module according to a preset adjustment rule to adjust the rolling reduction of the next pressing pass until the pressing of all the pressing passes is completed, wherein the specific method for obtaining the crimping angle difference value between the actual forming profile and the preset forming profile of the steel plate to be formed comprises the following steps: separating out straight line section data and circular arc section data based on the profile data of each pressing pass, calculating an included angle between two straight line sections based on a preset operation rule according to the straight line section data, and determining a difference value between a curling angle of an actual formed profile of the current pressing pass and a theoretical curling angle based on the obtained included angle.
8. A storage device having stored therein a plurality of programs, wherein the programs are adapted to be loaded and executed by a processor to implement the JCO formed tubular on-line closed-loop control method of any one of claims 1 to 6.
9. A processing device comprising a processor, a storage device; a processor adapted to execute various programs; a storage device adapted to store a plurality of programs; characterized in that said program is adapted to be loaded and executed by a processor to implement the JCO forming tubular on-line closed-loop control method of any of claims 1-6.
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