CN115815346A - Method for rolling aluminum alloy special-shaped ring piece based on position-force feedback - Google Patents
Method for rolling aluminum alloy special-shaped ring piece based on position-force feedback Download PDFInfo
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Abstract
The invention discloses a method for rolling an aluminum alloy special-shaped ring based on position-force feedback, which takes an aluminum alloy special-shaped ring and the existing ring rolling equipment as research objects, identifies the states of the ring rolling process, such as wall thickness, real-time outer diameter, deformation trend and the like, further provides that the special-shaped ring rolling process meets the critical indexes of rigidity conditions, such as the extreme contact force of a guide roll and the corresponding extreme radius deviation, and finally performs position-force feedback control on the position of the guide roll, the rotating speed of a conical roll and the feeding speed of a core roll according to the thrust of the hydraulic cylinder of the guide roll and the real-time position of the ring. The invention can effectively inhibit the instability phenomenon in the ring rolling process, improve the efficiency of rolling equipment and the forming quality of the ring, greatly reduce the rejection rate and realize the stable radial-axial rolling of the large special-shaped ring.
Description
Technical Field
The invention relates to aluminum alloy ring rolling equipment, in particular to a method for rolling an aluminum alloy special-shaped ring by coordinately controlling position and contact force.
Background
The aluminum alloy ring piece is a key bearing component of the rocket, and the production and manufacturing capability of the aluminum alloy ring piece is an important embodiment of national aviation, aerospace and national defense capabilities. Compared with other ring processing modes, the radial-axial ring rolling forming technology has the characteristics of economy, high processing efficiency and good finished product quality, so that the radial-axial ring rolling forming technology becomes a main production mode for producing the aluminum alloy ring. The rolling forming technology of the radial-axial ring piece belongs to the continuous deformation plastic processing technology, the wall thickness of the annular metal blank is continuously reduced and the radius is gradually increased through the rotation of a driving roller and the feeding of a core roller, and the ring piece with the target size is obtained through the rotation and feeding adjustment of a pair of conical rollers. In order to monitor the outer diameter size of the ring member, a measuring roller is arranged between a pair of conical rollers, and the real-time outer diameter of the ring member is obtained through the relative position of the measuring roller and a driving roller. In order to improve the stability of the rolling process and the integral roundness of the ring piece, a pair of guide rollers are arranged on two sides of the driving roller, and in the rolling process, the control system adjusts the positions of the guide rollers according to the real-time outer diameter of the ring blank obtained by the measuring rollers, so that the rotation center of the ring blank is always positioned on a connecting line between the driving roller and the measuring roller in the growing process of the ring blank. And finally, obtaining the target size of the ring blank under multi-pass rolling with multi-roller coordination.
Referring to fig. 2, a three-dimensional diagram of a rolling device and a rolling process of the special-shaped ring piece is shown, and the rolling operation steps of the conventional aluminum alloy ring piece are as follows:
step 1: placing the ring blank 4 on a rolling platform, and enabling the core roller 5 to penetrate through an inner hole of the blank, wherein the platform and the core roller 5 move together to enable the ring blank to be in contact with the driving roller 6;
step 2: the conical rollers 8 and 10 approach to the ring blank until the measuring roller 9 obtains a radius signal of the ring blank;
and step 3: the guide rollers 3 and 11 on the two sides move to the outer side of the ring blank according to the real-time outer diameter of the ring blank and are adjusted in real time;
and 4, step 4: the core roller 5 and the conical rollers 8 and 10 perform radial-axial rolling on the ring blank 4 according to pre-customized rolling process parameters.
However, in the actual production process, the rolling of the large ring has the characteristics of poor rigidity and long deformation path, and the existing real-time outer diameter measuring point of the ring blank is only one measuring roller 9, so that the real-time outer diameter of the ring blank is difficult to accurately represent. Therefore, the position limitation of the guide rolls 3 and 11 on the ring blank easily causes the instability and warpage of the ring, further reduces the dimensional accuracy and the structural performance of the ring, and even causes rolling failure, which is more obvious in the hot rolling of the aluminum alloy ring. Therefore, the technological parameters of the rolling process cannot be set at optimal values, such as the lower feeding speed of the core roller 5 and the feeding speeds of the conical rollers 8 and 10, so that the minimum wall thickness and diameter of the ring blank are limited, the growing speed of the ring piece is reduced, and the production efficiency is greatly reduced. Meanwhile, the defect of fishtail generated on the two end faces of the ring piece is further aggravated by poor rolling parameter setting, and the material utilization rate is further reduced.
On the other hand, in radial-axial rolling, the consistency of the linear speed of the ring piece and the linear speed of the cone rollers 8 and 10 at the contact positions of the ring piece in the rolling process is an important prerequisite for ensuring stable rolling, and when the cone rollers 8 and 10 rotate too fast or too slow, the ring piece on one side can generate a phenomenon similar to steel piling in plate rolling. When the steel piling phenomenon is intensified, the ring piece can be inwards collapsed or upwards warped under the pressure of the guide rollers 3 and 11 to become waste. Therefore, the accurate control of the rotating speeds of the conical rollers 8 and 10 is very important, but the driving rollers, the conical rollers and the ring blank have a sliding phenomenon in the actual production process, and meanwhile, the probability of the steel piling phenomenon is improved due to the uncertainty of the geometric shape of the ring blank. The existing guide roll 3 and 11 control method is difficult to effectively deal with the steel piling phenomenon. Therefore, the stability control of real-time feedback in the ring rolling process is of great significance.
Disclosure of Invention
The invention aims to provide a special-shaped ring rolling method based on position-force feedback on the basis of the existing ring rolling equipment, and provides a special-shaped ring rolling stability control method based on guide roll hydraulic cylinder pressure signal feedback according to guide roll driving hydraulic cylinder pressure sensor data and displacement sensor data aiming at the instability problem of the large-sized special-shaped ring radial-axial rolling process, so that the defect that a measuring roll cannot reflect the ring state after a core roll is fed is overcome, and further, on the basis of the proposed special-shaped ring instability condition, the position of the guide roll and the rotating speed of a conical roll are adjusted in real time according to the guide roll hydraulic cylinder pressure signal, so that the stable radial-axial rolling of the large-sized special-shaped ring is realized.
The invention provides a rolling control method shown in figure 1 according to the performance of the existing ring rolling equipment and a ring rolling theoretical method, identifies the states of the ring rolling process, such as wall thickness, real-time outer diameter, deformation trend and the like, according to the data of a pressure sensor of a guide roller driving hydraulic cylinder and the data of a displacement sensor, further provides that the special-shaped ring rolling process meets the critical indexes of rigidity conditions, such as guide roller ultimate contact force and corresponding ultimate radius deviation, and finally performs position-force feedback control on the position of the guide roller, the rotating speed of a conical roller and the feeding speed of a core roller according to the thrust of the guide roller hydraulic cylinder and the real-time position of the ring, thereby realizing the stable radial-axial rolling of the large special-shaped ring.
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 2 and 3, two sets of guide roller actuators are symmetrically arranged relative to the driving roller; the installation dimensions and the constructional dimensions of the guide roller actuator are shown in fig. 4.
The invention discloses a method for controlling rolling stability of a special-shaped ring piece based on position-force feedback, which specifically comprises the following steps:
step 1: in the special-shaped ring rolling forming device, two groups of guide roller actuators 1# and 2# are symmetrically arranged relative to a driving roller, wherein the relative positions of the guide roller actuators 1# are set as follows:
determining a y axis according to a right-hand rule by taking the rotation center of the driving roller as an original point, the axis of the driving roller as a z axis and the feeding direction of the core roller as an x direction;
the turning point of the guide roller hydraulic cylinder is a point G, the turning point of the swing rod is a point O, the connecting point of the guide roller hydraulic cylinder and the swing rod is a point B, and the guide roller is arranged at a point A; then there are: coordinate of point O as x O 、y O G point coordinate is x G 、y G ；
l OG Is the distance from point O to point G,/ OB Is the distance from point O to point B, l OA Is the distance from point O to point A, l AB Is the distance from the point O to the point B;
and 2, step: the ring blank is placed in a special-shaped ring rolling forming device, and the real-time outer diameter R of the ring blank is obtained by utilizing a displacement sensor arranged in the special-shaped ring rolling forming device t And the relative distance x of the core roller and the drive roller Xin ；
And 3, step 3: according to a geometric figure formed by the position relation among a hydraulic cylinder, a swing rod, a guide roller and a ring blank in the special-shaped ring rolling forming device and a binding force balance theory, the formulas (1), (2) and (3) can be obtained; calculating the real-time thrust F output by the 1# driving hydraulic cylinder according to the formula (1) 1 (ii) a Calculating real-time thrust F output by the 2# driving hydraulic cylinder according to the formula (2) 2 (ii) a Calculating the contact force F of the 1# guide roll and the ring blank according to the formula (3) N ；
In the formula (1), D 1 Is the cylinder diameter of the hydraulic cylinder, d 1 Is the rod diameter of the hydraulic cylinder, P 1 Is 1# driving hydraulic cylinder rodless cavity pressure, P 2 Pressure of rod cavity of 1# driving hydraulic cylinder, S 1 Is the effective area of the rodless cavity of the hydraulic cylinder S 2 The effective area of a rod cavity of the hydraulic cylinder is set;
in the formula (2), P' 1 Is 2# drive hydraulic cylinder rodless cavity pressure, P' 2 The pressure of a rod cavity of a 2# driving hydraulic cylinder is controlled;
in the formula (3), l BG The current actual effective length of the guide roll hydraulic cylinder is set; r is d To drive the roller radius, R g To guide the roll radius, F O And F B The resultant forces generated by bearings at revolute pairs at the O point and the B point of the swing rod on the axial direction respectively have the directions tangent to a friction circle and rho O And ρ B The friction circle radiuses at the rotating pair of the point O and the point B are related to the lubrication condition of the guide roller mechanism respectively;
and 4, step 4: regarding the ring blank as a ring beam which takes a roll gap between the driving roll and the core roll and a roll gap between the two conical rolls as fixed supports, and obtaining formulas (4) and (5) according to a beam bending theory; calculating theoretical limit contact force F of the guide roller to the ring blank according to the formula (4) Nmax (ii) a Calculating the theoretical limit radius deviation Delta R generated by the ring blank according to the formula (5) max ；
In the formula (4), W z Is the bending section coefficient, sigma, of the ring blank section s Is the yield strength of the ring blank material at the rolling temperature,
is the distance from the neutral axis to the outer diameter of the ring blank, /) N The effective moment arm length of the contact force to the ring piece;
in the formula (5), E is the elastic modulus of the ring material at the rolling temperature, and I is the section moment of inertia of the ring section and is related to the section thickness and the shape of the ring;
according to the geometric position relation of all parts of the special-shaped ring rolling forming device:
real-time wall thickness B of ring blank t The calculation formula of (2) is as follows:
B t ＝x Xin -R d -R x (6)
in the formula (6), x Xin The relative distance, R, of the core roller with respect to the drive roller d To drive the roller radius, R x The radius of the lower end of the core roller;
distance from neutral axis to outer diameter of ring blank
The calculation formula of (2) is as follows:
the calculation formula of the section inertia moment I of the ring blank section is as follows:
bending resistance section coefficient W of ring blank section z The calculation formula of (2) is as follows:
and 5: calculating the theoretical limit contact force F of the ring blank obtained in the step 4 Nmax Substitution into hydraulic cylinder theoretical limit thrust F in formula (3) 1max ；
According to F 1 、F 1max And Δ R max The value of (d) is calculated by the following equation (10) to obtain an adjustment parameter Δ R for adjusting the actual position of the piston rod of the hydraulic cylinder l ；
According to F 1 、F 1max And Δ R max The adjustment parameter Delta R for adjusting the actual rotating speed of the conical roller is calculated according to the formula (11) z ；
Step 6: according to the real-time outer diameter R of the ring blank t The actual position adjustment quantity delta l of the piston rod of the hydraulic cylinder and the geometric relation formed by the mutual positions of all the parts in the special-shaped ring rolling forming device are calculated according to the formula (12) and the actual position adjustment parameter delta of the piston rod of the hydraulic cylinder is consideredl ' effective length l ' after adjustment of guide roller hydraulic cylinder ' BG (R t +ΔR l )；
The current actual effective length l of the hydraulic cylinder of the guide roller is measured by a distance sensor arranged in the hydraulic cylinder BG Adjusted to and adjusted effective length l' BG (R t + delta l) are consistent, and the length adjustment of the hydraulic cylinder is completed;
according to the real-time wall thickness B of the ring blank t Ring blank real time outer diameter R t And the geometric relation formed by the mutual positions of all parts in the special-shaped ring rolling forming device is calculated according to a formula (13) and the actual rotating speed adjusting parameter delta R of the conical roller is considered z Adjusting the rotating speed w of the rear cone roller' z (R t +ΔR z )；
V in formula (13) d Is the linear velocity of the driving roller; s m The distance is the middle diameter distance of the vertex value of the conical roller; a. The c Is a conical roller half-cone angle;
the current actual conical roller rotating speed w is measured by a built-in sensor z Adjusted to and adjusted rear cone roller rotating speed w' z (R t +ΔR z ) And (5) the rotation speeds are consistent, and the adjustment of the rotation speeds of the conical rollers is completed;
current actual feeding speed v of core roller x Adjusted according to equation (14):
v 'of formula (14)' x The preset theoretical feeding speed of the core roller;
and 7: and (5) repeating the steps 3-6 until the rolling process is finished.
The invention has the advantages of
The invention provides a method for controlling the rolling stability of a special-shaped ring based on the pressure signal feedback of a guide roller hydraulic cylinder, which aims at the instability problem of the radial-axial rolling process of a large special-shaped ring and aims at overcoming the defect that the ring state cannot be reflected by a measuring roller after the core roller feeds, and further adjusting the position of the guide roller and the rotating speed of a conical roller in real time according to the pressure signal of the guide roller hydraulic cylinder on the basis of the instability condition of the special-shaped ring so as to realize the stable radial-axial rolling of the large special-shaped ring.
Drawings
FIG. 1 is a schematic diagram of rolling control of a special-shaped ring based on position-force feedback
FIG. 2 three-dimensional drawing of a rolling device and a rolling process of a special-shaped ring part
FIG. 3 top view of rolling process of special-shaped ring piece
Figure 4 stress analysis sketch of ring rolling equipment
Figure 5 is a schematic cross-sectional dimension view of the ring
FIG. 6 is a schematic diagram illustrating the instability adjustment of the special-shaped ring in the rolling process
FIG. 7 shows a schematic diagram of an effective length position-force control strategy of a guide roll hydraulic cylinder
FIG. 8 is a schematic diagram of a cone roller speed position-force control strategy
FIG. 9 core feed speed position-force control strategy schematic
In the figure: 1-1# guide roller hydraulic cylinder, 2-1# swing rod, 3-1# guide roller, 4-special-shaped ring piece, 5-core roller, 6-driving roller, 7-2# guide roller hydraulic cylinder, 8-upper conical roller, 9-measuring roller, 10-lower conical roller, 11-2# guide roller and 12-2# guide actuating mechanism
Detailed Description
The invention is further explained in detail with reference to the drawings and specific examples, and the specific steps are as follows:
step 1: as shown in fig. 2 and fig. 3, in the rolling forming device for the special-shaped ring, two sets of guide roller actuators 1# and 2# are symmetrically arranged relative to the driving roller. As shown in fig. 4, the relative positions of the 1# guide roller actuators are set as follows:
determining a y axis according to a right-hand rule by taking the rotation center of the driving roller as an origin, the axis of the driving roller as a z axis and the feeding direction of the core roller as an x direction;
the turning point of the guide roller hydraulic cylinder is a point G, the turning point of the swing rod is a point O, the connecting point of the guide roller hydraulic cylinder and the swing rod is a point B, and the guide roller is arranged at a point A; then there are: coordinate of point O as x O 、y O G point coordinate is x G 、y G ；
l OG Is the distance from point O to point G,/ OB Is the distance from point O to point B, l OA Is the distance from point O to point A, l AB Is the distance from the point O to the point B;
step 2: the ring blank is placed in a special-shaped ring rolling forming device, and the real-time outer diameter R of the ring blank is obtained by utilizing a displacement sensor arranged in the special-shaped ring rolling forming device t And the relative distance x of the core roller and the drive roller Xin ；
And step 3: the method comprises the following steps of (1), (2) and (3) according to a geometric figure formed by the position relation among a hydraulic cylinder, a swing rod, a guide roller and a ring blank in the special-shaped ring rolling forming device and a binding force balance theory, wherein the formula (1) is used for calculating the real-time thrust F output by the 1# driving hydraulic cylinder 1 (ii) a Calculating real-time thrust F output by the 2# driving hydraulic cylinder according to the formula (2) 2 (ii) a Calculating the contact force F of the 1# guide roll and the ring blank according to the formula (3) N ；
In the formula (1), D 1 Is the cylinder diameter of the hydraulic cylinder, d 1 The rod diameter of the hydraulic cylinder belongs to rolling equipment parameters, and the data are shown in a table 1; p 1 Is 1# driving hydraulic cylinder rodless cavity pressure, P 2 The pressure of a rod cavity of a 1# driving hydraulic cylinder belongs to rolling process parameters shown in a table 2; s 1 Is the effective area of the rodless cavity of the hydraulic cylinder S 2 The effective area of a rod cavity of the hydraulic cylinder is set;
in the formula (2), P' 1 No rod cavity pressure of 2# driving hydraulic cylinder, P 2 The rod cavity pressure of the' 2# driving hydraulic cylinder belongs to the rolling process parameters and is shown in the table 2.
In the formula (3), l BG The current actual effective length of the guide roll hydraulic cylinder is; l OE Is an effective force arm of the thrust of the hydraulic cylinder; l. the FA The effective arm of force of the contact force to the swing rod; r d To drive the roller radius, R g The guide roll radius, the main geometric parameters of which are shown in table 1; l AB The effective length of the guide roll hydraulic cylinder can be measured by a distance sensor arranged in the hydraulic cylinder, and is shown in table 2; f O And F B The resultant forces generated by bearings at revolute pairs at the O point and the B point of the swing rod on the axial direction respectively have the directions tangent to a friction circle and rho O And ρ B The radii of the friction circles at the revolute pairs at the points O and B, respectively, are related to the lubrication condition of the guide roller mechanism, and are all zero in consideration of the good lubrication condition and mounting condition in this embodiment.
And 4, step 4: the ring blank is regarded as a ring beam which takes a roll gap between a driving roll and a core roll and a roll gap between two conical rolls as fixed supports, the section of the ring blank is shown as figure 5, D is the groove depth, H 1 、H 2 、H 3 The total heights of the upper, middle and lower sections of the section of the ring blank are respectively shown in a table 1, B t The real-time wall thickness of the thick end of the section of the ring blank,
the distance from the neutral axis of the ring blank to the relatively smooth edge.
According to the roll size and the process parameter x as shown in FIG. 4 Xin Calculating the real-time wall thickness B of the thick end of the section of the ring blank according to the formula (4) t ：
B t ＝x Xin -R d -R x ＝900-600-100＝200mm (4)
Calculating the distance from the neutral axis of the ring blank to the relatively smooth edge according to the formula (5)
Further, the relevant mechanical parameters of the ring blank section can be obtained, wherein the section inertia moment I of the ring blank section is calculated according to the formula (6):
bending resistance section coefficient W of ring blank section z The calculation is performed according to equation (7):
according to the beam bending theory, calculating the theoretical limit contact force F of the guide roll to the ring blank according to the formula (8) Nmax ；
In the formula (8), W z The bending-resistant section coefficient of the section of the ring blank; sigma s The yield strength of the ring blank material at the rolling temperature is about 66.5MPa in the hot rolled state of the aluminum alloy in the embodiment; l N The effective moment arm length of the contact force to the ring piece;
as shown in FIG. 6, Δ R max Calculating the limit radius deviation of the ring piece meeting the ring blank section rigidity condition under the action of the guide roll limit contact force of the guide roll according to the formula (9):
in the formula (9), E is the elastic modulus of the ring material at the rolling temperature, and the elastic modulus of the aluminum alloy in the hot rolled state in this example is about 52.3GPa.
And 5: calculating the theoretical limit contact force F of the ring blank obtained in the step 4 Nmax Substitution into theoretical limit thrust F of hydraulic cylinder in formula (3) 1max ；
As shown in FIGS. 7 and 8, for effective position-force control of the guide roll position and the conical roll rotational speed, according to F 1 、F 1max And Δ R max Is calculated according to the formula (10) to adjust the adjustment parameter deltar of the actual position of the piston rod of the hydraulic cylinder l ：
According to the formula (1), the formula (3) and the formula (9) in the embodiment, F is obtained 1 ＝51443.6N、F 1max =61811.9N and Δ R max =3.1mm due to F 1 ＞0.8F 1max According to equation (10), Δ l = Δ R is obtained max ＝3.1mm。
According to F 1 、F 1max And Δ R max The adjustment parameter Delta R for adjusting the actual rotating speed of the conical roller is calculated according to the formula (11) z ：
According to the formula (1), the formula (3) and the formula (9) in the embodiment, F is obtained 1 ＝51443.6N、F 1max =61811.9N and Δ R max =3.1mm due to F 1 ＞0.6F 1max According to the formula (11), obtain
ΔR z ＝ΔR max (F 1 -0.6F 1max )/F 1max ＝3.1(51443.6-37087.1)/61811.9＝0.7mm；
And 6: according to the real-time outer diameter R of the ring blank t And the actual position regulating quantity delta R of the piston rod of the hydraulic cylinder l And the geometric relation formed by the mutual positions of all the parts in the special-shaped ring rolling forming device, and calculating and considering the actual position adjusting parameter delta R of the piston rod of the hydraulic cylinder according to a formula (12) l The guide roller hydraulic cylinder of (2) has an adjusted effective length of l' BG (R t +ΔR l )：
The current actual effective length l of the hydraulic cylinder of the guide roller is measured by a distance sensor arranged in the hydraulic cylinder BG Adjusted to and adjusted effective length l' BG (R t +ΔR l ) The length of the hydraulic cylinder is adjusted after the hydraulic cylinders are consistent;
according to real-time wall thickness B of ring blank t Ring blank real time outer diameter R t And the geometric relation formed by the mutual positions of all parts in the special-shaped ring rolling forming device, and the actual rotating speed adjusting parameter delta R of the conical roller is calculated and considered according to the formula (13) z Adjusting the rotating speed w of the rear cone roller' z (R t +ΔR z )：
In the formula (13), V d To drive the roller linear velocity, V in this example d ＝720mm/s -1 ，S m The mean diameter distance of the cone roller peak value, A c Is a conical roller half cone angle.
The current actual conical roller rotating speed w is measured by a built-in sensor z Adjusted to and adjusted rear cone roller rotating speed w' z (R t +ΔR z ) And (5) the rotation speeds are consistent, and the adjustment of the rotation speeds of the conical rollers is completed;
considering the poor rigidity condition of the hot rolled state of the aluminum alloy, as shown in FIG. 9, the core roll feeding speed v considering the deformation tendency of the ring is set x The adjustment formula is as follows:
according to the formula (1) and the formula (3) in the present embodiment, F is obtained 1 =51443.6N and F 1max =6181111.9N, due to F 1 ＞0.8F 1max According to the formula (14), v is obtained x ＝0.1mm/s。
V 'of formula (14)' x Is the preset theoretical feeding speed of the core roller.
Some of the relevant parameters in this example are given in tables 1 and 2:
TABLE 1 Rolling Equipment parameters for Large Special-shaped Ring
TABLE 2 Rolling Process parameters of Large Special-shaped Ring
In conclusion, the invention provides a special-shaped ring rolling method based on position-force feedback aiming at the instability problem in the rolling process of the aluminum alloy special-shaped ring, provides a special-shaped ring rolling stability control method based on pressure signal feedback of a guide roller hydraulic cylinder according to the data of a guide roller driving hydraulic cylinder pressure sensor and the data of a displacement sensor, establishes strategies of the guide roller position, the conical roller rotating speed and the core roller feeding speed, and makes up the defect that the measuring roller cannot reflect the ring state in time after the core roller is fed.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A method for controlling rolling stability of a special-shaped ring based on position-force feedback is characterized by comprising the following steps:
step 1: in the special-shaped ring rolling forming device, two groups of guide roller actuators 1# and 2# are symmetrically arranged relative to a driving roller, wherein the relative positions of the guide roller actuators 1# are set as follows:
determining a y axis according to a right-hand rule by taking the rotation center of the driving roller as an origin, the axis of the driving roller as a z axis and the feeding direction of the core roller as an x direction;
the turning point of the guide roller hydraulic cylinder is a point G, the turning point of the swing rod is a point O, the connecting point of the guide roller hydraulic cylinder and the swing rod is a point B, and the guide roller is arranged at a point A; then there are: coordinate of point O as x O 、y O G point coordinate is x G 、y G ；
l OG Is the distance from point O to point G,/ OB Is the distance from point O to point B, l OA Is the distance from point O to point A, l AB Is the distance from the point O to the point B;
step 2: the ring blank is placed in a special-shaped ring rolling forming device, and the real-time outer diameter R of the ring blank is obtained by utilizing a displacement sensor arranged in the special-shaped ring rolling forming device t And the relative distance x of the core roller and the drive roller Xin ；
And step 3: according to a geometric figure formed by the position relation among a hydraulic cylinder, a swing rod, a guide roller and a ring blank in the special-shaped ring rolling forming device and a binding force balance theory, the formula (1), (2) and (3) are provided; calculating the real-time thrust F output by the 1# driving hydraulic cylinder according to the formula (1) 1 (ii) a Calculating real-time thrust F output by the 2# driving hydraulic cylinder according to formula (2) 2 (ii) a Calculating the contact force F of the 1# guide roll and the ring blank according to the formula (3) N ；
In the formula (1), D 1 Is the cylinder diameter of the hydraulic cylinder, d 1 Is the rod diameter of the hydraulic cylinder, P 1 Is 1# driving hydraulic cylinder rodless cavity pressure, P 2 Pressure of rod cavity of 1# driving hydraulic cylinder, S 1 Effective area of rodless cavity of hydraulic cylinder，S 2 The effective area of a rod cavity of the hydraulic cylinder is set;
in formula (2), P 1 ' 2# drive cylinder rodless chamber pressure, P 2 ' is 2# driving hydraulic cylinder rod cavity pressure;
in the formula (3), l BG The current actual effective length of the guide roll hydraulic cylinder is set; l OE Is an effective force arm of the thrust of the hydraulic cylinder; l FA The effective arm of force of the contact force to the swing rod; r d Is the drive roll radius; r g Is the guide roll radius; f O And F B The rotating pairs at the O point and the B point of the oscillating bar respectively generate resultant force to the axial direction by bearings, and the direction of the resultant force is tangent to the friction circle; rho O And ρ B The friction circle radiuses at the rotating pair of the point O and the point B are related to the lubrication condition of the guide roller mechanism respectively;
and 4, step 4: regarding the ring blank as a ring beam which takes a roll gap between a driving roll and a core roll and a roll gap between two conical rolls as fixed supports, and according to the beam bending theory, the ring beam has formulas (4) and (5); calculating theoretical limit contact force F of the guide roller to the ring blank according to the formula (4) Nmax (ii) a Calculating the theoretical limit radius deviation Delta R generated by the ring blank according to the formula (5) max ；
In the formula (4), W z The bending-resistant section coefficient of the section of the ring blank; sigma s The yield strength of the ring blank material at the rolling temperature;
is the distance from the neutral axis to the outer diameter of the ring blank；l N The effective moment arm length of the contact force to the ring piece;
in the formula (5), E is the elastic modulus of the ring material at the rolling temperature; i is the section moment of inertia of the section of the ring piece, and is related to the thickness and the shape of the section of the ring piece;
and 5: calculating the theoretical limit contact force F of the ring blank obtained in the step 4 Nmax Substitution into theoretical limit thrust F of hydraulic cylinder in formula (3) 1max ；
According to F 1 、F 1max And Δ R max According to the formula (6), calculating an adjusting parameter delta R for adjusting the actual position of the piston rod of the hydraulic cylinder l ；
According to F 1 、F 1max And Δ R max The adjustment parameter Delta R for adjusting the actual rotating speed of the conical roller is calculated according to the formula (7) z ；
Step 6: according to the real-time outer diameter R of the ring blank t And the actual position regulating quantity delta R of the piston rod of the hydraulic cylinder l And the geometric relation formed by the mutual positions of all the parts in the special-shaped ring rolling forming device, and the actual position adjusting parameter delta R of the piston rod of the hydraulic cylinder is calculated and considered according to the formula (8) l The guide roller hydraulic cylinder of (2) has an adjusted effective length of l' BG (R t +ΔR l )；
Will be placed in the liquidThe distance sensor of the pressure cylinder measures the current actual effective length l of the hydraulic cylinder of the guide roller BG Adjusted to and adjusted effective length l' BG (R t +ΔR l ) The length of the hydraulic cylinder is adjusted after the hydraulic cylinders are consistent;
according to the real-time wall thickness B of the ring blank t Ring blank real time outer diameter R t And the geometric relation formed by the mutual positions of all parts in the special-shaped ring rolling forming device is calculated according to the formula (9) and the actual rotating speed adjusting parameter delta R of the conical roller is considered z Adjusting the rotating speed w of the rear cone roller' z (R t +ΔR z )；
In the formula (9), V d Is the linear velocity of the driving roller; s m The distance is the middle diameter distance of the vertex value of the conical roller; a. The c Is a conical roller half-cone angle;
the current actual conical roller rotating speed w is measured by a built-in sensor z Adjusted to and adjusted rear cone roller rotating speed w' z (R t +ΔR z ) And (5) the rotation speeds are consistent, and the adjustment of the rotation speeds of the conical rollers is completed;
current actual feeding speed v of core roller x Adjusted according to equation (10):
in formula (10), v' x The preset theoretical feeding speed of the core roller is set;
and 7: and (5) repeatedly executing the steps 3-6 until the rolling process is finished.
2. The method for controlling the rolling stability of the special-shaped ring based on the position-force feedback as claimed in claim 1, wherein the real-time wall thickness B of the ring blank t The calculation formula of (2) is as follows:
B t ＝x Xin -R d -R x (11)
in formula (11), x Xin The relative distance of the core roller relative to the driving roller; r d Is the drive roll radius; r x Is the radius of the lower end of the core roller.
3. The method for controlling the rolling stability of the special-shaped ring based on the position-force feedback as claimed in claim 2, wherein the distance from the neutral axis to the outer diameter of the ring blank
The calculation formula of (2) is as follows:
in the formula (12), D is the groove depth; h 1 、H 2 、H 3 The total heights of the upper section, the middle section and the lower section of the ring blank are respectively.
4. The method for controlling the rolling stability of the special-shaped ring based on the position-force feedback as claimed in claim 3, wherein the calculation formula of the section moment of inertia I of the ring blank section is as follows:
5. the method for controlling the rolling stability of the special-shaped ring based on the position-force feedback as claimed in claim 4, wherein the method comprises the following steps:
bending resistance section coefficient W of the section of the ring blank z The calculation formula of (2) is as follows:
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