CN115291510A - Intelligent leveling control method and system for forging hydraulic press - Google Patents
Intelligent leveling control method and system for forging hydraulic press Download PDFInfo
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Abstract
The invention discloses an intelligent leveling control method and system for a forging hydraulic press, which belong to the technical field of forging hydraulic press control, and comprise a parameter acquisition module, a pre-charging pressure module and a stamping module, wherein before pressing work, a servo controller adopts a feed-forward controlled closed-loop to control the pre-charging pressure, calculates and outputs a set value of a proportional pump and an opening value of a proportional overflow valve, so that the pre-charging pressures of eight leveling cylinders are the same; and (3) starting the pressing work, adjusting the main cylinder according to the set working speed to enable the sliding block to descend, and calculating the target positions of four corners of the sliding block: calculating to obtain an output value of the corresponding proportional cartridge valve according to the target position of each corner and the real-time position of each corner; dividing the weight coefficient into three levels according to the size of the position deviation value; and calculating the output value of the proportional cartridge valve at the current moment at different levels. The invention adopts a feedforward controlled closed loop to control the pre-punching pressure and adopts a fuzzy control method to realize the force couple four-corner leveling, thereby realizing the forming process control of the large-scale integrated forging.
Description
Technical Field
The invention belongs to the technical field of forging hydraulic press control, and particularly relates to an intelligent leveling control method and system for a forging hydraulic press.
Background
In recent years, the fields of aerospace, aviation and the like in China are rapidly developed, and the requirements of forging hydraulic presses are continuously increased along with the increase of various required forgings. Conventionally, the integral forming of large forgings has been very obvious in performance improvement effect on aircrafts such as airplanes and the like. The large integral forging piece generally has a large projection area and an asymmetric appearance, and has higher requirements on a leveling system of a forging hydraulic press, so that the design of the leveling method and the leveling system of the forging hydraulic press, which are suitable for irregular large integral forging pieces, is very important.
Disclosure of Invention
The invention provides an intelligent leveling control method and system for a forging hydraulic press, aiming at solving the technical problems in the prior art, wherein the pre-punching force is controlled by adopting a closed loop of feedforward control, and the couple four-corner leveling is realized by adopting a fuzzy control method, so that the forming process control of a large-scale integrated forging piece is realized.
The first purpose of the invention is to provide an intelligent leveling control system of a hydraulic forging press, which comprises:
a parameter acquisition module, the parameters comprising: positions h1, h2, h3 and h4 of four corners of the slide block, and set working speed v 0 The initial pressing height H of the sliding block, the pressing time t and the pressing coefficient theta;
the pre-charging module is used for controlling the pre-charging pressure by the servo controller through a closed loop controlled by feedforward before pressing work, and calculating and outputting a given value of a proportional pump and an opening value of a proportional overflow valve so as to enable the pre-charging pressures of the eight leveling cylinders to be the same;
a stamping module, the stamping operation is started, and the working speed v is set 0 Adjusting the main cylinder to make the slide block move downwards, and calculating the target positions h of four corners of the slide block 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain the output value of the corresponding proportional cartridge valve;
according to the position deviation value
The weight coefficient alpha is divided into three levels of large, medium and small;
when deviation is
When the deviation value/target position is larger than or equal to 20%, alpha is larger (deviation)
The weight is larger) to enhance the corresponding trend to improve the rapidity of the system, the formula is as follows:
when deviation occurs
When the value is medium (5% to less than 20% (deviation value/target position)), alpha is medium (deviation)
Weight medium) and added
To reduce overshoot of the system:
when deviation occurs
When smaller (deviation value/target position < 5%), α is smaller (deviation variation)
Heavier weight) and added
Avoiding overshoot and entering system steady state as soon as possible:
wherein: i = {1,2,3,4} corresponds to four corners,
the output value of the proportional cartridge valve at the current moment,
the output value of the proportional cartridge valve at the last moment,
is a value of a deviation of the position,
in order for the positional deviation to vary,
as a deviation from the starting time to time t
The summation of (a) is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according to
And
the real-time value and the fuzzy control rule of (a) calculate a real-time alpha value.
Preferably, the forging hydraulic press comprises a rectangular sliding block, a leveling cylinder, four proportional cartridge valves, four proportional overflow valves, a proportional pump and a servo controller; the number of the leveling cylinders is eight, and four corners of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are opposite angles; leveling cylinders on the upper side and the lower side of the angle A are named as a1 and c2 in sequence; leveling cylinders on the upper side and the lower side of the angle B are named as B1 and d2 in sequence; leveling cylinders on the upper side and the lower side of the angle C are named as C1 and a2 in sequence; leveling cylinders on the upper side and the lower side of the angle D are named as D1 and b2 in sequence; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge is connected to d1 and d 2.
The second purpose of the invention is to provide an intelligent leveling control method of a hydraulic forging press, which comprises the following steps:
obtaining parameters, wherein the parameters comprise: positions h1, h2, h3 and h4 of four corners of the slide block, and set working speed v 0 The initial pressing height H of the sliding block, the pressing time t and the pressing coefficient theta;
pre-charging pressure, wherein before pressing work, the servo controller adopts a closed loop controlled by feedforward to control the pre-charging pressure, and calculates and outputs a given value of a proportional pump and an opening value of a proportional overflow valve so that the pre-charging pressures of the eight leveling cylinders are the same;
punching operation, starting the pressing operation, according to the set operating speed v 0 Adjusting the main cylinder to make the slide block move downwards, and calculating the target positions h of four corners of the slide block 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain an output value of the corresponding proportional cartridge valve;
according to the position deviation value
The weight coefficient alpha is divided into three levels of large, medium and small;
when the position deviation value is deviated
When the output value is larger (the deviation value/target position is more than or equal to 20 percent), the output value of the proportional cartridge valve at the current moment
Comprises the following steps:
when the position deviation value is deviated
When the output value is medium (5 percent to less than or equal to (deviation value/target position) < 20 percent), the output value of the proportional cartridge valve at the current moment
Comprises the following steps:
when the position deviation value is deviated
When the deviation value/target position is smaller than 5 percent, the output value of the proportional cartridge valve at the current moment
Comprises the following steps:
wherein: i = {1,2,3,4} corresponds to four corners,
the output value of the proportional cartridge valve at the current moment,
the output value of the proportional cartridge valve at the last moment,
is a value of a deviation of the position,
in order for the positional deviation to vary,
is the deviation from the starting time to the t time
In the accumulation of (1), alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according to
And
the real-time value and the fuzzy control rule of (a) calculate a real-time alpha value.
Preferably, the forging hydraulic press comprises a rectangular sliding block, a leveling cylinder, four proportional cartridge valves, four proportional overflow valves, a proportional pump and a servo controller; the number of the leveling cylinders is eight, and four corners of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are opposite angles; leveling cylinders on the upper side and the lower side of the angle A are named as a1 and c2 in sequence; leveling cylinders on the upper side and the lower side of the angle B are named as B1 and d2 in sequence; leveling cylinders on the upper side and the lower side of the angle C are named as C1 and a2 in sequence; leveling cylinders on the upper side and the lower side of the angle D are named as D1 and b2 in sequence; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge is connected to d1 and d 2.
The invention has the advantages and positive effects that:
1. the invention adopts a fuzzy control method to control in different stages, when the deviation is larger, the weight of the deviation is larger, thereby enhancing the corresponding trend and improving the rapidity of the system; when the deviation is medium, the weight of the deviation change is increased, and the derivative of the deviation change is added to reduce the overshoot of the system; when the deviation is small, the weight of the deviation change is increased, and a historical integral term is added, so that overshoot is avoided, and the system can enter a stable state as soon as possible.
2. The invention adopts the closed loop control of feedforward control to pre-charge pressure into the leveling cylinder, and can improve the response speed of the system.
3. The invention adopts a couple leveling mode, which can ensure that the sum of the pressure of the leveling cylinders borne by the upper plane of the sliding block is equal to the sum of the pressure of the leveling cylinders borne by the lower plane, thereby not influencing the pressure exerted on a workpiece by the sliding block.
Drawings
FIG. 1 is a schematic diagram of a couple leveling model according to a preferred embodiment of the present invention;
Detailed Description
For a further understanding of the invention, its nature and utility, reference should be made to the following examples, taken in conjunction with the accompanying drawings, in which:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art without creative efforts based on the technical solutions of the present invention belong to the protection scope of the present invention.
Please refer to fig. 1.
An intelligent leveling control system for a forging hydraulic press, wherein the forging hydraulic press comprises:
and the servo controller is used for acquiring the data of the position sensor, outputting the flow of the proportional pump and outputting the opening value of the proportional cartridge valve and the opening value of the proportional overflow valve.
And the position sensors are used for acquiring position data of each corner of the sliding block, the number of the position sensors is 4, and each corner of the sliding block is 1.
And 4 proportional cartridge valves for supplying oil and liquid to the leveling cylinders to adjust the positions of the leveling cylinders.
And the proportional overflow valves are used for pre-charging the leveling cylinders with pressure, and the number of the proportional overflow valves is 4.
And the proportional pumps are used for providing oil liquid sources of the proportional servo valves and the proportional overflow valves, and the number of the proportional pumps is 1.
The intelligent leveling control system adopts 8 leveling cylinders to work cooperatively so as to keep the balance of the sliding block, and fig. 1 is a schematic diagram of a couple leveling model. 8 identical plunger cylinders are used as leveling cylinders, and the rated pressure of the 8 cylinders is identical. The distance from the center of each cylinder to the horizontal center line of the slide block is equal, and the distance from the center line to the front center line and the rear center line of the slide block are also equal. Plunger cavities of the two leveling cylinders a1 and a2 are communicated through a pipeline, plunger cavities of the two leveling cylinders b1 and b2 are communicated through a pipeline, plunger cavities of the two leveling cylinders c1 and c2 are communicated through a pipeline, and plunger cavities of the two leveling cylinders d1 and d2 are communicated through a pipeline. The couple leveling mode can ensure that the sum of the pressures of the leveling cylinders borne by the upper plane of the sliding block is equal to the sum of the pressures of the leveling cylinders borne by the lower plane, so that the pressure exerted on a workpiece by the sliding block is not influenced. When the offset load is close to the angle D, the pressure of the D1 leveling cylinder is increased, and the pressure of the B2 leveling cylinder is reduced, so that the angle D moves downwards oppositely; meanwhile, the pressure of the d2 leveling cylinder is increased, the pressure of the B1 leveling cylinder is reduced, and the angle B moves upwards oppositely; and the other two angles are correspondingly adjusted according to the respective space vector components. The principle and movement of the offset load close to the other angles is the same.
And the parameter acquisition module defines the positions of four corners A, B, C and D as h1, h2, h3 and h4 respectively. Setting the working speed to v 0 . The initial pressing height of the sliding block is H, the pressing time is t, and the pressing coefficient is theta.
And before the forging hydraulic press performs pressing work, the servo controller adopts a closed loop controlled by feedforward control to control the pre-charging pressure, and calculates and outputs the set value of the proportional pump and the opening value of the proportional overflow valve, so that the pre-charging pressure in 8 leveling cylinders is equal to the same pressure (10-15 MPa). The leveling cylinder is pre-charged with a certain pressure, so that the response speed of the system can be improved.
A stamping module, a hydraulic forging press, a speed v set according to 0 Adjusting the main cylinder to make the slide block move downwards, and calculating the target positions h of four corners of the slide block by the control system 0 ：
h 0 ＝H-v 0 t+θ
Taking a proportional pump as a power source, and outputting the output value of a proportional cartridge valve YTA according to a real-time target position h 0 Calculating the real-time position h1 of the A angle; the output value of the proportional cartridge valve YTB is according to the real-time target position h 0 Calculating the real-time position h2 of the angle B; the output value of the proportional cartridge valve YTC is according to the real-time target position h 0 Calculating a real-time position h3 of the C angle; the output value of the proportional cartridge valve YTD is according to the real-time target position h 0 And the real-time position h4 of the D angle.
Setting the operating speed v 0 The range is 0.1-20mm/s, so that the position change range in unit time is large, and the output value of the proportional cartridge valve cannot be calculated by adopting the same formula and the same parameter.
When deviation is
When the deviation value/target position is larger than or equal to 20%, alpha is larger (deviation)
The weight is larger) to enhance the corresponding trend to improve the rapidity of the system, the formula is as follows:
when deviation is
When the value is medium (5% to less than 20% (deviation value/target position)), alpha is medium (deviation)
Weight medium) and added
To reduce overshoot of the system:
when deviation is
When smaller (deviation value/target position < 5%), α is smaller (deviation variation)
Heavier weight) and added
Avoiding overshoot and entering system steady state as soon as possible:
i = {1,2,3,4} corresponds to the four corners of A, B, C and D,
the output value of the proportional cartridge valve at the current moment,
the output value of the proportional cartridge valve at the last moment,
is a value of a deviation of the position,
in order for the positional deviation to vary,
as a deviation from the starting time to time t
And (3) accumulating, wherein alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient.
According to
And
the real-time value and the fuzzy control rule can calculate the real-time alpha value when acquiring the deviation value
And deviation variation value
The post-controller determines the value of α, i.e.
Wherein X k ，Y k ，Z k For linguistic values on the corresponding domain of discourse, the linguistic variables are: negative large (NB), negative Small (NS), zero (ZO), positive Small (PS), positive large (PB).
An intelligent leveling control method for a forging hydraulic machine, wherein the forging hydraulic machine comprises:
and the servo controller is used for acquiring the data of the position sensor, outputting the flow of the proportional pump and outputting the opening value of the proportional cartridge valve and the opening value of the proportional overflow valve.
And the position sensors are used for acquiring position data of each corner of the sliding block, the number of the position sensors is 4, and each corner of the sliding block is 1.
And 4 proportional cartridge valves for supplying oil and liquid to the leveling cylinders to adjust the positions of the leveling cylinders.
And the proportional overflow valves are used for pre-charging the leveling cylinders with pressure, and the number of the proportional overflow valves is 4.
And the proportional pumps are used for providing oil liquid sources of the proportional servo valves and the proportional overflow valves, and the number of the proportional pumps is 1.
The intelligent leveling control system adopts 8 leveling cylinders to work cooperatively so as to keep the balance of the sliding block, and fig. 1 is a schematic diagram of a couple leveling model. 8 identical plunger cylinders are used as leveling cylinders, and the rated pressure of the 8 cylinders is identical. The distance from the center of each cylinder to the horizontal center line of the slide block is equal, and the distance from the center line to the front center line and the rear center line of the slide block are also equal. Plunger cavities of the two leveling cylinders a1 and a2 are communicated through a pipeline, plunger cavities of the two leveling cylinders b1 and b2 are communicated through a pipeline, plunger cavities of the two leveling cylinders c1 and c2 are communicated through a pipeline, and plunger cavities of the two leveling cylinders d1 and d2 are communicated through a pipeline. The couple leveling mode can ensure that the sum of the pressures of the leveling cylinders borne by the upper plane of the sliding block is equal to the sum of the pressures of the leveling cylinders borne by the lower plane, so that the pressure exerted on a workpiece by the sliding block is not influenced. When the offset load is close to the angle D, the pressure of the D1 leveling cylinder is increased, and the pressure of the B2 leveling cylinder is reduced from the four angles A, B, C and D, so that the angle D moves downwards oppositely; meanwhile, the pressure of the d2 leveling cylinder is increased, the pressure of the B1 leveling cylinder is reduced, and the angle B moves upwards oppositely; and the other two angles carry out corresponding position adjustment according to respective space vector components. The principle and movement of the offset load near other angles is the same.
And acquiring parameters, and defining the positions of four corners A, B, C and D as h1, h2, h3 and h4 respectively. Setting the operating speed to v 0 . The initial height of the sliding block of the workpiece is H, the pressing time is t, and the pressing coefficient is theta.
And pre-charging pressure, wherein before the forging hydraulic press performs pressing work, the servo controller adopts a closed loop controlled by feedforward to control the pre-charging pressure, and calculates and outputs a set value of a proportional pump and an opening value of a proportional overflow valve, so that the pre-charging pressure in 8 leveling cylinders is equal to the same pressure (10-15 MPa). The leveling cylinder is pre-charged with a certain pressure, so that the response speed of the system can be improved.
In the pressing operation of a hydraulic forging press, according to a set speed v 0 Adjusting the main cylinder to make the slide block move downwards, and calculating the target positions h of four corners of the slide block by the control system 0 ：
h 0 ＝H-v 0 t+θ
Taking a proportional pump as a power source, and outputting the output value of a proportional cartridge valve YTA according to a real-time target position h 0 Calculating the real-time position h1 of the A angle; the output value of the proportional cartridge valve YTB is according to the real-time target position h 0 Calculating the real-time position h2 of the B angle; the output value of the proportional cartridge valve YTC is according to the real-time target position h 0 Calculating the real-time position h3 of the angle C; the output value of the proportional cartridge valve YTD is according to the real-time target position h 0 And the real-time position h4 of the D angle.
Setting the operating speed v 0 The range is 0.1-20mm/s, so that the position change range in unit time is large, and the output value of the proportional cartridge valve cannot be calculated by adopting the same formula and the same parameter.
When deviation occurs
When the deviation value/target position is larger than or equal to 20%, alpha is larger (deviation)
The weight is larger) to enhance the corresponding trend to improve the rapidity of the system, and the formula is as follows:
when deviation is
When the value is medium (5% to less than or equal to (deviation value/target position) < 20%), alpha is medium (deviation)
Weight medium) and added
To reduce overshoot of the system:
when deviation is
When smaller (deviation value/target position < 5%), α is smaller (deviation variation)
Heavier weight) and add
Avoiding overshoot and entering system steady state as soon as possible:
i = {1,2,3,4} corresponds to the four corners of A, B, C, and D,
the output value of the proportional cartridge valve at the current moment,
the output value of the proportional cartridge valve at the last moment,
is a value of a deviation of the position,
in order for the positional deviation to vary,
is the deviation from the starting time to the t time
And (3) accumulating, wherein alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient.
According to
And
the real-time value and the fuzzy control rule can calculate the real-time alpha value when acquiring the deviation value
And deviation variation value
The post-controller determines the value of α, i.e.
Wherein X k ，Y k ，Z k For linguistic values on the corresponding domain of discourse, the linguistic variables are: negative large (NB), negative Small (NS), zero (ZO), positive Small (PS), positive large (PB).
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modifications, equivalent variations 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 (10)
1. The utility model provides an intelligent leveling control system of forging hydraulic press which characterized in that includes:
a parameter acquisition module, the parameters comprising: the positions h1, h2, h3 and h4 of four corners of the slide block and the set working speed v 0 The initial height H of the sliding block, the pressing time t and the pressurization coefficient theta;
the pre-charging module is used for controlling the pre-charging pressure by the servo controller through a closed loop controlled by feedforward before pressing work, and calculating and outputting a given value of a proportional pump and an opening value of a proportional overflow valve so as to enable the pre-charging pressures of the eight leveling cylinders to be the same;
a stamping module, the stamping operation is started, and the working speed v is set 0 Adjusting the main cylinder to make the slide block move downwards, and calculating the target positions h of four corners of the slide block 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain an output value of the corresponding proportional cartridge valve;
according to the position deviation value
The weight coefficient alpha is divided into three levels of large, medium and small;
when deviation is
When not less than 20%, the formula is as follows:
when deviation occurs
When the content is not less than 5% and less than 20%, the formula is as follows:
when deviation occurs
Less than 5%, the formula is as follows:
wherein: i = {1,2,3,4} corresponds to four corners,
the output value of the proportional cartridge valve at the current moment,
the output value of the proportional cartridge valve at the last moment,
is a value of a deviation of the position,
in order for the positional deviation to vary,alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according to
And
the real-time value and the fuzzy control rule of (a) calculate a real-time alpha value.
2. The intelligent leveling control system of the hydraulic forging press as recited in claim 1, wherein the hydraulic forging press includes a rectangular slide block, a leveling cylinder, four proportional cartridge valves, four proportional relief valves, a proportional pump, and a servo controller; the number of the leveling cylinders is eight, and four corners of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are opposite angles; leveling cylinders on the upper side and the lower side of the angle A are named as a1 and c2 in sequence; leveling cylinders on the upper side and the lower side of the angle B are named as B1 and d2 in sequence; leveling cylinders on the upper side and the lower side of the angle C are named as C1 and a2 in sequence; leveling cylinders on the upper side and the lower side of the angle D are named as D1 and b2 in sequence; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge valve is connected to d1 and d 2.
3. The intelligent leveling control system of a forging hydraulic press of claim 2, wherein the parameter acquisition module includes four position sensors for acquiring four angular position data of the slide.
4. The intelligent leveling control system of a forging hydraulic press of claim 2, wherein the fuzzy control rule is: when collecting deviation value
And deviation variation value
The post-controller determines the value of α, i.e.
then{α＝Z k K =1,2 \ 8230; \8230where X is k ，Y k ，Z k For linguistic values on the corresponding domain of discourse, the linguistic variables are: negative large (NB), negative Small (NS), zero (Z0), positive Small (PS), positive large (PB).
5. The intelligent leveling control system of a forging hydraulic press as recited in claim 2, wherein a working speed v is set 0 The range of (2) is 0.1 to 20mm/s, and the range of the pre-charging pressure is 10 to 15MPa.
6. An intelligent leveling control method for a forging hydraulic press is characterized by comprising the following steps:
obtaining parameters, wherein the parameters comprise: the positions h1, h2, h3 and h4 of four corners of the slide block and the set working speed v 0 The initial height H of the sliding block, the pressing time t and the pressurizing coefficient theta;
pre-charging pressure, wherein before pressing work, the servo controller adopts a closed loop controlled by feedforward to control the pre-charging pressure, and calculates and outputs a given value of a proportional pump and an opening value of a proportional overflow valve so that the pre-charging pressures of the eight leveling cylinders are the same;
punching, starting the pressing operation, according to the set operating speed v 0 Adjusting the main cylinder to make the slide block move downwards, and calculating the target positions h of four corners of the slide block 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain the output value of the corresponding proportional cartridge valve;
according to the position deviation value
The weight coefficient alpha is divided into three levels of large, medium and small;
when deviation is
When not less than 20%, the formula is as follows:
when deviation is
When the content is not less than 5% and less than 20%, the formula is as follows:
when deviation occurs
Less than 5%, the formula is as follows:
wherein: i = {1,2,3,4} corresponds to four corners,
the output value of the proportional cartridge valve at the current moment,
the output value of the proportional cartridge valve at the last moment,
is a value of a deviation of the position,
the position deviation is changed, alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according to
And
the real-time value and the fuzzy control rule of (a) calculate a real-time alpha value.
7. The intelligent leveling control method of a hydraulic forging press as recited in claim 6, wherein the hydraulic forging press comprises a rectangular slide block, a leveling cylinder, four proportional cartridge valves, four proportional overflow valves, a proportional pump and a servo controller; the number of the leveling cylinders is eight, and four corners of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are opposite angles; leveling cylinders on the upper side and the lower side of the angle A are named as a1 and c2 in sequence; leveling cylinders on the upper side and the lower side of the angle B are named as B1 and d2 in sequence; leveling cylinders on the upper side and the lower side of the angle C are named as C1 and a2 in sequence; leveling cylinders on the upper side and the lower side of the angle D are named as D1 and b2 in sequence; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge is connected to d1 and d 2.
8. The intelligent leveling control method for a hydraulic forging press as recited in claim 7 wherein the parameter acquisition module comprises four position sensors for acquiring data of four angular positions of the slide.
9. The intelligent leveling control method for hydraulic forging presses as recited in claim 7, wherein the fuzzy control rules are: when collecting deviation value
And deviation ofChange value
The post-controller determines the value of α, i.e.
then{α＝Z k K =1,2 \ 8230; \8230where X is k ，Y k ，Z k For linguistic values on the corresponding domain of discourse, the linguistic variables are: negative large (NB), negative Small (NS), zero (ZO), positive Small (PS), positive large (PB).
10. Intelligent leveling control method for hydraulic forging presses according to claim 7, characterised in that the working speed v is set 0 The range of (b) is 0.1 to 20mm/s, and the range of the pre-charge pressure is 10 to 15MPa.
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