CN114734084A - Control system applied to billet shearing machine and billet shearing machine - Google Patents
Control system applied to billet shearing machine and billet shearing machine Download PDFInfo
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- CN114734084A CN114734084A CN202210132209.8A CN202210132209A CN114734084A CN 114734084 A CN114734084 A CN 114734084A CN 202210132209 A CN202210132209 A CN 202210132209A CN 114734084 A CN114734084 A CN 114734084A
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- 238000010008 shearing Methods 0.000 title claims abstract description 45
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
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- 230000006698 induction Effects 0.000 abstract description 16
- 238000013016 damping Methods 0.000 abstract description 8
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- 230000035939 shock Effects 0.000 abstract description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D15/00—Shearing machines or shearing devices cutting by blades which move parallel to themselves
- B23D15/12—Shearing machines or shearing devices cutting by blades which move parallel to themselves characterised by drives or gearings therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
Abstract
The invention provides a control system applied to a billet shearing machine and the billet shearing machine, which comprise a power supply, a magneto-rheological damper, a sensor unit, a magnetic field monitoring unit, a data processing controller and a PID (proportion integration differentiation) controller, wherein the data processing controller is electrically communicated with the sensor unit and the magnetic field monitoring unit, the PID controller is electrically communicated with the power supply, and the PID controller changes the current of the power supply according to the magnetic state parameters so as to adjust the size of an output magnetic field of the magneto-rheological damper. The magneto-rheological damper is accurately and stably controlled through an integrated accurate PID control algorithm, the damping and shock absorption accuracy is improved through compensation control of the magnetic field quantity and the current quantity of a closed-loop magnetic field system, the problem of stable control of the target magnetic induction intensity required by the magneto-rheological damper shock absorption system is solved, and the accuracy and the robustness of the control system are improved.
Description
Technical Field
The invention relates to the field of industrial manufacturing equipment, in particular to a control system applied to a billet shearing machine and the billet shearing machine.
Background
The shearing of the steel billet is an important process in the continuous casting process, in the actual production process, the conventional technical treatment can not only produce a large amount of waste gas, but also cause serious resource waste, and the emission of the waste gas and the waste of reducing resources in the continuous casting billet production process become problems to be solved urgently. In the shearing process of the steel billet, if the shearing force is too large, the shearing quality and the service life of a blade are influenced; if the shear force is too small, crack growth and productivity are affected.
In view of the above, in some automated billet shearing processes, some magnetorheological damper shearing schemes are proposed. The magnetorheological fluid is used as one of intelligent materials, can be converted into semisolid or solid with viscoplasticity from Newtonian fluid within millisecond-level time under the action of an external magnetic field, is reversible, is called as a magnetorheological effect, and has better reliability as a semi-actively controlled damping device by taking the magnetorheological fluid as a working medium after the magnetorheological effect is automatically found.
However, in the prior art, because the state conversion of the magnetorheological fluid has certain difficulty and inconvenience, the stability of actual production cannot be accurately achieved, and the traditional method of independently depending on semi-automatic control has more uncertainties and is extremely disadvantageous in industrial production.
This background information is provided merely as an aid to understanding the present disclosure and does not establish or acknowledge that any of the above-described may be used as prior art against the present disclosure.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a control system applied to a billet shearing machine and the billet shearing machine, which are used for controlling the shearing motion of the billet shearing machine, solving the problem of stable control of the target magnetic induction intensity required by a damping system of a magneto-rheological damper and improving the accuracy and the robustness of the control system. .
According to the present invention, there is provided a control system for a billet shearing machine, for controlling shearing movement of the billet shearing machine, comprising:
a power source;
the magnetorheological damper is used for driving the shearing machine to perform shearing motion;
the sensor unit is used for acquiring the running state parameters of the control system;
the magnetic field monitoring unit is used for acquiring magnetic state parameters of the magnetorheological damper;
the controller comprises a data processing controller and a PID controller, wherein the data processing controller is electrically communicated with the sensor unit and the magnetic field monitoring unit, and the PID controller is electrically communicated with the power supply;
and the PID controller is used for changing the power supply current according to the magnetic state parameter to adjust the output magnetic field of the magnetorheological damper.
Preferably, the magnetorheological damper includes magnetorheological fluid and a coil housed within the cylinder, the coil in electrical communication with the power source and the controller.
Preferably, the sensor unit includes an infrared distance measuring sensor for detecting a change in position of the cutter during shearing of the billet, and/or a pressure sensor for detecting a change in pressure applied to the cutter.
Preferably, the magnetic field monitoring unit comprises a magnetic field detection system and a magnetic field feedback system, the magnetic field detection system is used for measuring the magnetic field in the magnetorheological damper coil, and the magnetic field feedback system is used for acquiring the magnetic field strength in the magnetorheological damper coil in real time and returning the analog quantity.
Preferably, the PID controller is configured to operate a PID control algorithm, and the PID controller outputs a corresponding control amount for adjusting the exciting current.
The invention also provides a billet shearing machine which comprises a base, and scissors and a magnetorheological damper which are fixed on the base, wherein the magnetorheological damper drives the scissors to move relative to the base.
Preferably, the magnetorheological damper comprises a cylinder body, a magnetorheological fluid, a coil and a piston rod, wherein the piston rod penetrates through the cylinder body and is connected with the scissors.
Preferably, the scissors further comprise a guide rail along which the scissors are configured to slide.
Preferably, the magnetorheological dampers and the scissors are two groups, and the scissors are arranged to move towards each other.
Preferably, the PID controller is respectively electrically connected with the two groups of magneto-rheological dampers.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the magneto-rheological damper is accurately and stably controlled by integrating an accurate PID control algorithm, the damping and shock absorption accuracy is improved by performing compensation control on the magnetic field quantity and the current quantity of the closed-loop magnetic field system, the problem of stable control of the target magnetic induction intensity required by the magneto-rheological damper shock absorption system is solved, and the accuracy and the robustness of the control system are improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a logic diagram of a control system for a billet shearing machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a control system for a billet shearing machine according to the present invention;
FIG. 3 is a schematic diagram of the construction of a billet shearing machine according to an embodiment of the present invention;
fig. 4 is a schematic cross-sectional structure diagram of a magnetorheological damper in an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Example one
As shown in fig. 1 and 2.
The control system applied to the billet shearing machine comprises a power supply, a PID controller, a magnetorheological damper, a sensor, a data acquisition system, a magnetic field closed-loop control system and a PC (personal computer) terminal. The magnetorheological damper is used for driving to complete shearing movement; the sensor is used for acquiring the running state parameters of the control system; the data acquisition system and the magnetic field closed-loop control system are used for acquiring magnetic state parameters of the magnetorheological damper; and the PID controller is used for adjusting the output magnetic field of the magnetorheological damper.
The magnetorheological damper comprises magnetorheological fluid and a coil which are accommodated in the cylinder body, and the coil is electrically connected with the power supply and the controller so as to be controlled by the PID controller to adjust and operate. The magnetic field of the magneto-rheological damper is generated by a magnetic induction coil, the magnetic induction coil can be simplified into an inductance resistance element containing a hysteresis link, and the control process of the whole system can be approximately described by a first-order inertia link and a pure hysteresis model. The following transfer function can thus be established for the magnetic induction coil
K, tau and T are respectively an open-loop gain, a pure lag time constant and an inertia time constant of the magnetic field control system model.
The sensor comprises an infrared distance measuring sensor for detecting the cutter position change during billet shearing, such as the cutter position change during billet shearing; such as a pressure sensor that detects changes in pressure to which the knife is subjected. The infrared distance measuring sensor and the pressure sensor have different functions and configuration modes, so that the infrared distance measuring sensor and the pressure sensor can be independently selected or selected in parallel in the selection of the same embodiment. The real-time monitoring of the sensor is the basis of the stable operation of the system, and the data of the sensor is uploaded to a controller or a PC through a data acquisition system.
The magnetic field detection system is used for measuring a magnetic field in a magneto-rheological damper coil, and the specific scheme is that the magnetic field in the magneto-rheological damper coil is measured through monitoring of a nuclear magnetic resonance gaussmeter so as to realize calibration of Hall sensor analog quantity and required magnetic induction intensity under different working conditions and ensure that the Hall sensor cannot cause working point drift due to aging.
The magnetic field feedback system is used for acquiring the magnetic field intensity in the magneto-rheological damper coil in real time and returning an analog quantity. The specific scheme is that a Hall sensor is used as a measuring element and used for acquiring the magnetic field intensity in a magneto-rheological damper coil in real time, returning an analog quantity and further feeding the analog quantity back to a PID controller.
The PID controller is used for operating a PID control algorithm and outputs corresponding control quantity for adjusting the exciting current. One feasible scheme is that after the PC sets the target magnetic induction intensity for the controller, the controller receives the magnetic field intensity collected by the Hall sensor, and the PID controller runs a PID algorithm to complete AD conversion of the collected data and perform compensation. And after the calculation of the PID algorithm, corresponding control quantity is output to adjust the exciting current output by the power supply, so that the stability of the target magnetic induction intensity is ensured.
In the PID original mathematical expression:
u (t) is the control system output; e (t) is the error between the set value and the feedback value; kp is a proportional coefficient of the control system; ti is the integral time of the control system; td is the differential time of the control system.
In the case of a classical PID controller using the above-mentioned original mathematical formula, the Ziegler-Nichols empirical formula that can be used to tune the PID controller parameters is as follows:
substituting each constant measured by the magnetic induction coil used in the control system into an empirical formula to obtain the PID setting parameter of the control system.
In this embodiment, the PID controller is connected to a power supply, the power supply uses 220V/50Hz of the commercial power, and a PID algorithm is run in the controller to complete AD conversion and compensation of the magnetic field data collected by the magnetic field closed-loop system, so as to change the power supply current, control the size of the magnetic field output by the coil, and improve the accuracy of damping.
It should be noted that the PC-side controller and the PID controller may also be integrated to form a main controller, specifically, at least including several functions of the data processing controller and the PID controller.
Therefore, the control system adjusts the exciting current of the magnet power supply in real time through a PID closed-loop control method, can effectively reduce the deviation of target magnetic induction and actual magnetic induction, and ensures the accuracy and stability of damping control.
Example two
As shown in fig. 3.
The billet shearing machine comprises a base 1, a shearing knife, a magneto-rheological damper and a guide rail; the guide rail includes upper guide rail 5 and lower guide rail 12 that upper and lower parallel interval set up, lower guide rail 12 passes through the threaded fastener fastening and is in on the base 1, both ends are respectively through threaded fastener and first left side board 4 and first right side board 15 fixed connection about upper guide rail 5, and the lower extreme of first left side board 4 and first right side board 15 is fixed through the threaded fastener respectively on the base 1.
The shearing knife comprises a left knife body and a right knife body which can move relatively, and the left knife body and the right knife body are arranged oppositely; the left knife body can slide left and right along the guide rail, specifically, the left knife body comprises a left knife rest 6 and a left blade 8, the upper end of the left knife rest 6 is fixedly connected with an upper left slide block 7 through a threaded fastener, and the upper left slide block 7 is arranged on the upper guide rail 5 in a sliding manner; the lower end of the left tool rest 6 is fixedly connected with a lower left sliding block 18 through a threaded fastener, and the lower left sliding block 18 is arranged on the lower guide rail 12 in a sliding manner; the left blade 8 is detachably mounted (for example, detachably by a threaded fastener or a clamping manner) on the right side of the left tool rest 6; the right knife body can slide left and right along the guide rail, specifically, the right knife body comprises a right knife rest 10 and a right blade 9, the upper end of the right knife rest 10 is fixedly connected with an upper right slide block 11 through a threaded fastener, and the upper right slide block 11 is arranged on the upper guide rail 5 in a sliding manner; the lower end of the right tool rest 10 is fixedly connected with a lower right slide block 17 through a threaded fastener, and the lower right slide block 17 is arranged on the lower guide rail 12 in a sliding manner; the right blade 9 is detachably (e.g., detachably by a threaded fastener or a snap fit) mounted on the left side of the right blade holder 10. The left blade 8 and the right blade 9 are both 45-degree beveling blades, namely the knife edges of the left blade 8 and the right blade 9 are both V-shaped openings, and the angle of the V-shaped openings is 45 degrees. In operation, the left blade 8 and the right blade 9 move towards each other to cut the billet.
A second left side plate 2 is further arranged on the left side of the first left side plate 4, and the second left side plate 2 is fixed on the base 1 through a threaded fastener; a left magnetorheological damper 3 is arranged between the first left side plate 4 and the second left side plate 2. A second right side plate 13 is further arranged on the left side of the first right side plate 15, and the second right side plate 13 is fixed on the base 1 through a threaded fastener; a right magnetorheological damper 14 is disposed between the first right side plate 15 and the second right side plate 13.
The left magnetorheological damper 3 and the right magnetorheological damper 14 are symmetrically arranged on two sides of the base 1, and the left magnetorheological damper 3 and the right magnetorheological damper 14 are double-rod type magnetorheological dampers, namely, the left magnetorheological damper and the right magnetorheological damper both comprise a cylinder body, a piston rod and a coil, and the piston rod penetrates through the cylinder body; the cylinder body of the left magneto-rheological damper 3 is fixedly arranged between the first left side plate 4 and the second left side plate 2, and the cylinder body of the right magneto-rheological damper 14 is fixedly arranged between the first right side plate 15 and the second right side plate 13.
And shown in fig. 4.
The magnetorheological damper 3 comprises a cylinder body, a piston rod 301 and a coil 305, the piston rod 301 penetrates through the cylinder body, the cylinder body comprises a cylinder barrel 303 and end covers fixedly arranged at the left end and the right end of the cylinder barrel 303 (a first left side plate 4 is a right end cover of the cylinder body, a second left side plate 2 is a left end cover of the cylinder body), and the two ends of the piston rod 301 respectively penetrate through the left end cover and the right end cover (namely the first left side plate 4 and the second left side plate 2); the coil 305 is positioned in the cylinder 303 and wound on the middle of the piston rod 301; the inner wall of the cylinder 303 is provided with a foam metal 304, and the magnetorheological is positioned in the foam metal 304.
In this embodiment, the left end of the piston rod 301 of the left magnetorheological damper 3 passes through the second left side plate 2 to be connected with a power device, the right end passes through the first left side plate 4 to be connected with the left knife rest 6, and the left knife rest 6 moves left and right along the guide rail under the driving of the piston rod 301 of the left magnetorheological damper 3; the right end of a piston rod of the right magnetorheological damper 14 penetrates through the second right side plate 13 to be connected with a power device, the left end penetrates through the first right side plate 15 to be connected with the right knife rest 10, and the right knife rest 10 moves left and right along the guide rail under the driving of the piston rod of the right magnetorheological damper 14. The damping force generated by the magnetorheological damper can be adjusted by changing the number of turns of the coil or/and changing the electrified current, and the two generate opposite motion. In this embodiment, the damping force is adjusted by changing the magnitude of the energization current of the coil, specifically, a pressure sensor 16 is disposed between the left end of the piston rod of the right magnetorheological damper 14 and the right tool rest 10, and the coil 305 of the left magnetorheological damper 3, the coil of the right magnetorheological damper 14, and the pressure sensor 16 are all connected to the control system.
In this embodiment, the PID controller is electrically connected to the magnetorheological dampers, and in the case of having both the left magnetorheological damper 3 and the right magnetorheological damper 14, the PID controller is electrically connected to the two sets of magnetorheological dampers respectively for independent control.
A control scheme of a magnetorheological damper based on a PID algorithm is as follows:
s1: according to the PID control model, various constants measured by the magnetic induction coil used in the control system are substituted into an empirical formula, so that the PID setting parameters of the control system can be obtained, and the PID setting parameters are adjusted near the setting parameters in combination with the working conditions.
S2: a target magnetic induction is set for the PID controller. When a steel billet is cut to work, the PID controller receives the magnetic field intensity analog quantity collected by the Hall sensor in the magnetic field feedback system, and outputs corresponding control quantity to adjust the exciting current output by the power supply after the calculation of the PID algorithm, so that the magnetic induction intensity generated by the coil is constantly controlled, and the stability of the target magnetic induction intensity is ensured; the infrared distance measuring sensor detects the position change of a lower cutter during billet shearing; the pressure sensor detects the change of working pressure when the steel billet is cut, and is connected with the PC through the data acquisition unit to monitor the working condition in real time so as to ensure the working quality.
S3: a clipping procedure is performed.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A control system for use with a billet shearing machine for controlling the shearing motion of the billet shearing machine, comprising:
a power source;
the magnetorheological damper is used for driving the shearing machine to perform shearing motion;
the sensor unit is used for acquiring the running state parameters of the control system;
the magnetic field monitoring unit is used for acquiring magnetic state parameters of the magnetorheological damper;
the controller comprises a data processing controller and a PID controller, wherein the data processing controller is electrically communicated with the sensor unit and the magnetic field monitoring unit, and the PID controller is electrically communicated with the power supply;
the PID controller is used for changing the power supply current according to the magnetic state parameter to adjust the output magnetic field size of the magnetorheological damper.
2. The control system of claim 1, wherein the magnetorheological damper comprises magnetorheological fluid contained in the cylinder and a coil, the coil being in electrical communication with the power source and the controller.
3. A control system for a billet shear according to claim 1, wherein the sensor unit comprises an infrared distance measuring sensor for detecting a change in position of the blade during shearing of the billet, and/or a pressure sensor for detecting a change in pressure applied to the blade.
4. The control system for a billet shear of claim 1, wherein the magnetic field monitoring unit comprises a magnetic field detection system and a magnetic field feedback system;
the magnetic field detection system is used for measuring the magnetic field in the coil of the magnetorheological damper;
the magnetic field feedback system is used for acquiring the magnetic field intensity in the coil of the magnetorheological damper in real time and returning analog quantity.
5. The control system of claim 1, wherein the PID controller is configured to run a PID control algorithm, and the PID controller outputs a corresponding control amount for adjusting the excitation current output by the power supply.
6. A billet shearing machine, comprising a base, and scissors and a magneto-rheological damper which are fixed on the base, wherein the magneto-rheological damper drives the scissors to move relative to the base, and the billet shearing machine is characterized by further comprising a control system applied to the billet shearing machine, wherein the control system is as claimed in any one of claims 1 to 5.
7. The billet shear of claim 6, wherein the magnetorheological damper comprises a cylinder, a magnetorheological fluid, a coil, and a piston rod extending through the cylinder and connected to the shear.
8. The billet shear of claim 7, further comprising a rail along which the shears are configured to slide.
9. The billet shear of claim 8, wherein the magnetorheological damper and the shears are in two sets, the shears being arranged for opposing motion.
10. The billet shear of claim 9, wherein the PID controllers are each electrically connected to two sets of magnetorheological dampers.
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| CN202210132209.8A CN114734084A (en) | 2022-02-14 | 2022-02-14 | Control system applied to billet shearing machine and billet shearing machine |
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| CN202210132209.8A CN114734084A (en) | 2022-02-14 | 2022-02-14 | Control system applied to billet shearing machine and billet shearing machine |
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