CN115815346A - A Rolling Method of Aluminum Alloy Irregular Rings Based on Position-Force Feedback - Google Patents

Abstract

The invention discloses a method for rolling aluminum alloy special-shaped rings based on position-force feedback. Taking aluminum alloy special-shaped rings and existing ring rolling equipment as research objects, the hydraulic pressure is driven by guide rollers during the rolling process. Cylinder pressure sensor data and displacement sensor data to identify the state of the ring rolling process, such as wall thickness, real-time outer diameter and deformation trend, etc., and further propose that the special-shaped ring rolling process meets the critical indicators of stiffness conditions, such as the limit contact force of the guide roller and the corresponding limit radius deviation, and finally perform position-force feedback control on the position of the guide roller, the speed of the cone roller and the feed speed of the core roller according to the thrust of the hydraulic cylinder of the guide roller and the real-time position of the ring. The invention can effectively suppress the instability phenomenon in the rolling process of the ring, improve the efficiency of the rolling equipment and the forming quality of the ring, greatly reduce the reject rate, and realize the stable diameter-axial rolling of the large special-shaped ring.

Description

A Rolling Method of Aluminum Alloy Irregular Rings Based on Position-Force Feedback

technical field

The invention relates to aluminum alloy ring rolling equipment, in particular to a method for rolling an aluminum alloy special-shaped ring with coordinated control of position and contact force.

Background technique

The aluminum alloy ring is the key load-bearing component of the rocket, and its manufacturing capacity is an important manifestation of a country's aviation, aerospace and national defense capabilities. Compared with other ring processing methods, radial-axial ring rolling forming technology takes into account the characteristics of economy, high processing efficiency and good quality of finished products, so it has become the main production method of aluminum alloy ring production. The radial-axial ring rolling forming technology belongs to the continuous deformation plastic processing technology. Through the rotation of the driving roller and the feeding of the core roller, the wall thickness of the annular metal blank is continuously reduced and the radius is gradually increased. Turn and feed to adjust ring height to achieve target size ring. In order to monitor the outer diameter of the ring, a measuring roller is installed between a pair of tapered rollers, and the real-time outer diameter of the ring is obtained through the relative position of itself and the driving roller. In order to improve the stability of the rolling process and improve the overall roundness of the ring, a pair of guide rollers are installed on both sides of the driving roller. During the rolling process, the control system adjusts the position of the guide rollers according to the real-time outer diameter of the ring billet obtained by the measuring rollers. The center of rotation of the ring blank is always located on the line between the driving roller and the measuring roller during its growth. Finally, the ring blank is rolled to the target size under multi-roll coordinated multi-pass rolling.

Referring to Fig. 2 three-dimensional drawing of the special-shaped ring rolling device and the rolling process, the existing aluminum alloy ring rolling operation steps are:

Step 1: Place the ring blank 4 on the rolling platform, and pass the core roller 5 through the inner hole of the blank, and the platform and the core roller 5 move together to make the ring blank contact with the driving roller 6;

Step 2: The tapered rollers 8 and 10 approach the ring blank until the measuring roller 9 obtains the radius signal of the ring blank;

Step 3: The guide rollers 3 and 11 on both sides move to the outside of the ring blank according to the real-time outer diameter of the ring blank and adjust in real time;

Step 4: The core roll 5, the tapered rolls 8, 10 perform radial-axial rolling on the ring blank 4 according to the pre-customized rolling process parameters.

However, the rolling of large rings in the actual production process has the characteristics of poor stiffness and long deformation path, and the existing real-time outer diameter measurement point of the ring blank is only one measurement roller 9, which makes it difficult to accurately characterize the real-time outer diameter of the ring blank. Therefore, the positional restriction of the guide rollers 3 and 11 on the ring blank will easily lead to instability and warpage of the ring, thereby reducing the dimensional accuracy and structural performance of the ring, and even causing rolling failure. Rolling is more obvious. For this reason, the process parameters of the rolling process are often not set at optimal values, such as the lower feed speed of the core roll 5 and the feed speed of the tapered rolls 8 and 10, which limits the minimum wall thickness and diameter of the ring blank, reducing the While the ring grows faster, the production efficiency is also greatly reduced. At the same time, poor rolling parameter settings further aggravate the fishtail defects generated on both ends of the ring, further reducing the material utilization rate.

On the other hand, in radial-axial rolling, ensuring the consistency of the linear velocity at the contact position between the tapered rollers 8 and 10 and the ring and the linear velocity of the ring during the rolling process is an important prerequisite for ensuring stable rolling. 8. Too fast or too slow rotation of 10 will cause the ring on one side to appear similar to the phenomenon of "stacking steel" in plate binding. When the "stacking of steel" phenomenon intensifies, the ring will collapse inwardly or warp upward under the pressure of the guide rollers 3, 11 and become a waste product. Therefore, the precise control of the speed of the tapered rollers 8 and 10 is particularly important. However, in the actual production process, the driving roller, the tapered rollers and the ring blank have sliding phenomena, and the uncertainty of the geometric shape of the ring blank also increases the risk of the phenomenon of "stacking steel". probability. And existing guide roller 3,11 control mode is difficult to make effective coping mode to " heap steel " phenomenon. Therefore, it is of great significance to carry out real-time feedback stability control for the ring rolling process.

Contents of the invention

The purpose of the present invention is to provide a special-shaped ring rolling method based on position-force feedback on the basis of the existing ring rolling equipment, aiming at the problem of instability in the diameter-axial rolling process of large special-shaped rings, according to Based on the pressure sensor data and displacement sensor data of the hydraulic cylinder driven by the guide roller, a special-shaped ring rolling stability control method based on the feedback of the hydraulic cylinder pressure signal of the guide roller is proposed, which makes up for the lack of ring status that the measuring roller has no time to reflect after the core roller is fed. Further, on the basis of the proposed instability conditions of the special-shaped ring, the position of the guide roll and the speed of the tapered roll are adjusted in real time according to the pressure signal of the hydraulic cylinder of the guide roll, so as to realize the stable diameter-axial rolling of the large special-shaped ring.

According to the performance of the existing ring rolling equipment and the theoretical method of ring rolling, the present invention proposes the rolling control method shown in Figure 1, according to the pressure sensor data and displacement sensor data of the hydraulic cylinder driven by the guide roller, the ring rolling process is identified State, such as wall thickness, real-time outer diameter and deformation trend, etc., and further proposed that the rolling process of special-shaped rings meets the critical indicators of stiffness conditions, such as the limit contact force of the guide roll and the corresponding limit radius deviation. Finally, according to the thrust of the hydraulic cylinder of the guide roll and the ring The real-time position of the workpiece is used for position-force feedback control of the position of the guide roller, the speed of the tapered roller and the feed speed of the core roller, so as to realize the stable radial-axial rolling of large special-shaped rings.

The present invention will be further described below in conjunction with accompanying drawing:

As shown in Figure 2 and Figure 3, the two sets of guide roller actuators are symmetrically arranged relative to the driving roller; the installation dimensions and structural dimensions of the guide roller actuators are shown in Figure 4.

The invention discloses a method for controlling the rolling stability of special-shaped rings based on position-force feedback, which specifically includes the following steps:

Step 1: In the special-shaped ring rolling forming device, the two sets of guide roller actuators 1# and 2# are symmetrically arranged relative to the driving roller, and the relative position of the 1# guide roller actuator is set as follows:

Take the center of rotation of the driving roller as the origin, the axis of the driving roller as the z-axis, and the feeding direction of the core roller as the x-axis, and determine the y-axis according to the right-hand rule;

The turning point of the guide roller hydraulic cylinder is point G, the turning point of the swing rod is point O, the connection point between the guide roller hydraulic cylinder and the swing rod is point B, and the installation position of the guide roller is point A; then: the coordinates of point O are x _O , y _O , the coordinates of point G are x _G , y _G ;

l _OG is the distance from point O to point G, l _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 point O to point B;

Step 2: Place the ring blank in the special-shaped ring rolling forming device, and use the displacement sensor set in the special-shaped ring rolling forming device to obtain the real-time outer diameter R _t of the ring blank and the relative distance x between the core roller and the driving roller _Xin ;

Step 3: According to the geometric figure formed by the positional relationship between the hydraulic cylinder, the swing rod, the guide roller and the ring blank in the special-shaped ring rolling forming device, combined with the force balance theory, the formulas (1), (2) and ( 3); Calculate the real-time thrust F ₁ output by 1# drive hydraulic cylinder according to formula (1); calculate the real-time thrust F ₂ output by 2# drive hydraulic cylinder according to formula (2); calculate 1# guide roller and The contact force F _N of the ring blank;

In the formula (1), D ₁ is the bore diameter of the hydraulic cylinder, d ₁ is the rod diameter of the hydraulic cylinder, P ₁ is the pressure of the rodless chamber of the 1# driving hydraulic cylinder, P ₂ is the pressure of the rod chamber of the 1# driving hydraulic cylinder, and S ₁ is The effective area of the rodless cavity of the hydraulic cylinder, _S2 is the effective area of the rod cavity of the hydraulic cylinder;

In formula (2), _P'1 is the rodless chamber pressure of the 2# drive hydraulic cylinder, and _P'2 is the rod chamber pressure of the 2# drive hydraulic cylinder;

In formula (3), l _BG is the current actual effective length of the hydraulic cylinder of the guide roller; R _d is the radius of the driving roller, R _g is the radius of the guide roller, F _O and F _B are the rotation pairs at point O and B of the pendulum swing respectively The resultant force produced by the bearing on the shaft diameter, the direction of the resultant force is tangent to the friction circle, ρ _O and ρ _B are the radii of the friction circle related to the lubrication conditions of the guide roller mechanism at the revolving pair at point O and point B respectively;

Step 4: The ring blank is regarded as a ring beam fixedly supported by the roll gap between the driving roll and the core roll and the roll gap between the two tapered rolls. According to the beam bending theory, formulas (4) and (5) can be obtained ; Calculate the theoretical limit contact force F _Nmax of the guide roller to the ring blank according to formula (4); calculate the theoretical limit radius deviation ΔR _max produced by the ring blank according to formula (5);

为环坯中性轴至外径的距离,l_N为接触力对环件的有效力臂长度；In formula (4), W _z is the bending section coefficient of the ring billet section, σ _s is the yield strength of the ring billet material at the rolling temperature,

is the distance from the neutral axis of the ring blank to the outer diameter, l _N is the effective arm length of the contact force on the ring;

In 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, which is related to the thickness and shape of the ring section;

According to the geometric positional relationship of each part of the special-shaped ring rolling forming device:

The formula for calculating the real-time wall thickness B _t of the ring blank is:

B _t ＝x _Xin -R _d -R _x (6)

In formula (6), x _Xin is the relative distance between the core roll and the drive roll, R _d is the radius of the drive roll, and R _x is the radius of the lower end of the core roll;

的计算公式为：The distance from the neutral axis of the ring blank to the outer diameter

The calculation formula is:

The formula for calculating the section moment of inertia I of the ring blank section is:

The formula for calculating the bending section coefficient W _z of the ring blank section is:

Step 5: Substituting the theoretical limit contact force F _Nmax of the ring blank calculated in step 4 into formula (3) and converting it into the theoretical limit thrust F _1max of the hydraulic cylinder;

According to the values of F ₁ , F _1max and ΔR _max , calculate the adjustment parameter ΔR _l for adjusting the actual position of the piston rod of the hydraulic cylinder according to formula (10);

According to the values of F ₁ , F _1max and ΔR _max , the adjustment parameter ΔR _z for adjusting the actual speed of the tapered roller is calculated according to formula (11);

Step 6: According to the real-time outer diameter R _t of the ring blank, the actual position adjustment Δl of the hydraulic cylinder piston rod, and the geometric relationship formed by the mutual positions of the various components in the special-shaped ring rolling forming device, calculate according to formula (12) and consider the hydraulic cylinder piston rod The effective length l' _BG (R _t +ΔR _l ) of the guide roller hydraulic cylinder after adjustment of the actual position adjustment parameter Δl;

Adjust the current actual effective length l _BG of the guide roller hydraulic cylinder measured by the distance sensor built into the hydraulic cylinder to be consistent with the adjusted effective length l' _BG (R _t +Δl), and complete the length adjustment of the hydraulic cylinder;

According to the geometric relationship formed by the real-time wall thickness B _{t of} the ring blank, the real-time outer diameter R _t of the ring blank and the mutual positions of the various parts in the special-shaped ring rolling forming device, the adjustment parameter ΔR _z of the actual speed of the tapered roller is calculated according to formula (13) Rear taper roller speed w' _z (R _t +ΔR _z );

In the formula (13), V _d is the linear velocity of the driving roller; S _m is the center diameter distance of the apex value of the tapered roller; A _c is the half-cone angle of the tapered roller;

Adjust the current actual cone roll speed w _z measured by the built-in sensor to be consistent with the adjusted cone roll speed w' _z (R _t +ΔR _z ), and complete the cone roll speed adjustment;

The current actual feed speed v _x of the core roller is adjusted according to the formula (14):

In formula (14), v' _x is the theoretical feed speed of the preset core roller;

Step 7: Repeat steps 3-6 until the rolling process ends.

Beneficial effects of the present invention

According to the position-force feedback-based special-shaped ring rolling method of the present invention, aiming at the problem of instability in the diameter-axial rolling process of large special-shaped rings, according to the pressure sensor data and displacement sensor data of the hydraulic cylinder driven by the guide roll, a guide roll is proposed. The rolling stability control method of special-shaped rings based on the feedback of the pressure signal of the hydraulic cylinder makes up for the deficiency that the measuring roll cannot reflect the state of the rings after the core roll is fed. The pressure signal of the hydraulic cylinder adjusts the position of the guide roll and the speed of the tapered roll in real time to achieve stable diameter-axial rolling of large special-shaped rings.

Description of drawings

Fig.1 Schematic diagram of special-shaped ring rolling control based on position-force feedback

Fig. 2 Three-dimensional diagram of special-shaped ring rolling device and rolling process

Figure 3 Top view of the rolling process of special-shaped rings

Fig. 4 Simplified diagram of force analysis of ring rolling equipment

Figure 5 Schematic diagram of cross-sectional dimensions of rings

Fig. 6 Schematic diagram of instability adjustment in the rolling process of special-shaped rings

Figure 7 Schematic diagram of position-force control strategy for effective length of guide roller hydraulic cylinder

Figure 8 Schematic diagram of the speed position-force control strategy of the tapered roller

Figure 9 Schematic diagram of position-force control strategy for core roller feed speed

In the picture: 1-1# guide roller hydraulic cylinder, 2-1# pendulum rod, 3-1# guide roller, 4-shaped ring, 5-core roller, 6-driving roller, 7-2# guide roller hydraulic cylinder , 8-upper tapered roller, 9-measuring roller, 10-lower tapered roller, 11-2# guide roller, 12-2# guide actuator

Detailed ways

Below in conjunction with accompanying drawing and specific calculation example the present invention is described in further detail, concrete steps are as follows:

Step 1: As shown in Figure 2 and Figure 3, in the special-shaped ring rolling forming device, two sets of guide roller actuators 1# and 2# are symmetrically arranged relative to the driving roller. As shown in Figure 4, the relative position of the 1# guide roller actuator is set as follows:

Take the center of rotation of the driving roller as the origin, the axis of the driving roller as the z-axis, and the feeding direction of the core roller as the x-axis, and determine the y-axis according to the right-hand rule;

The turning point of the guide roller hydraulic cylinder is point G, the turning point of the swing rod is point O, the connection point between the guide roller hydraulic cylinder and the swing rod is point B, and the installation position of the guide roller is point A; then: the coordinates of point O are x _O , y _O , the coordinates of point G are x _G , y _G ;

l _OG is the distance from point O to point G, l _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 point O to point B;

Step 2: Place the ring blank in the special-shaped ring rolling forming device, and use the displacement sensor set in the special-shaped ring rolling forming device to obtain the real-time outer diameter R _t of the ring blank and the relative distance x between the core roller and the driving roller _Xin ;

Step 3: According to the geometric figure formed by the positional relationship between the hydraulic cylinder, the swing rod, the guide roller and the ring blank in the special-shaped ring rolling forming device, combined with the force balance theory, there are formulas (1), (2) and (3 ), the formula (1) calculates the real-time thrust F ₁ output by the 1# drive hydraulic cylinder; calculates the real-time thrust F ₂ output by the 2# drive hydraulic cylinder according to the formula (2); calculates the 1# guide roller and the ring blank according to the formula (3) The contact force F _N ;

In formula (1), D ₁ is the bore diameter of the hydraulic cylinder, d ₁ is the rod diameter of the hydraulic cylinder, which belongs to the rolling equipment parameters, and the data are shown in Table 1; P ₁ is the pressure of the rodless cavity of the 1# driving hydraulic cylinder, and P ₂ is The pressure of the rod chamber of the 1# driving hydraulic cylinder belongs to the parameters of the rolling process, as shown in Table 2; S ₁ is the effective area of the rodless chamber of the hydraulic cylinder, and S ₂ is the effective area of the rod chamber of the hydraulic cylinder;

In formula (2), P′ ₁ is the rodless cavity pressure of 2# drive hydraulic cylinder, and P ₂ ′ is the rod cavity pressure of 2# drive hydraulic cylinder, both of which belong to the rolling process parameters, as shown in Table 2.

In formula (3), l _BG is the current actual effective length of the guide roller hydraulic cylinder; l _OE is the effective force arm of the hydraulic cylinder thrust; l _FA is the effective force arm of the contact force on the swing rod; R _d is the radius of the driving roller, R _g is the radius of the guide roller, and its main geometric parameters are shown in Table 1; l _AB is the effective length of the hydraulic cylinder of the guide roller, which can be measured by the distance sensor built in the hydraulic cylinder, as shown in Table 2; F _O and F _B are respectively The resultant force produced by the bearings on the shaft diameter at the turning pair at point O and point B of the pendulum rotation, the direction of the resultant force is tangent to the friction circle, ρ _O and ρ _B are the radius of the friction circle at the turning pair at point O and point B respectively and the guide roller mechanism Lubricating conditions are related. Considering that the lubricating conditions and installation conditions are good in this embodiment, the radius of the friction circle is taken as zero.

为环坯中性轴至相对平滑边的距离。Step 4: The ring blank is regarded as a ring beam fixedly supported by the roll gap between the driving roll and the core roll and the roll gap between the two tapered rolls. The cross section of the ring blank is shown in Figure 5, and D in the figure is the groove shape Depth, H ₁ , H ₂ , H ₃ are the total heights of the upper, middle and lower sections of the ring billet section respectively. The parameter values of the ring billet section are shown in Table 1, B _t is the real-time wall thickness of the thick end of the ring billet section,

is the distance from the neutral axis of the ring blank to the relatively smooth edge.

According to the size of the roll and the process parameter x _Xin shown in Figure 4, the real-time wall thickness B _t of the thick end of the ring billet section is calculated according to the formula (4):

B _t ＝x _Xin -R _d -R _x ＝900-600-100＝200mm (4)

Calculate the distance from the neutral axis of the ring blank to the relatively smooth edge according to formula (5)

Further, the relevant mechanical parameters of the ring blank section can be obtained, and the section moment I of the ring blank section is calculated according to formula (6):

The bending section coefficient W _z of the ring blank section is calculated according to the formula (7):

According to the beam bending theory, calculate the theoretical limit contact force F _Nmax of the guide roller to the ring blank according to formula (8);

In formula (8), W _z is the bending section coefficient of the ring blank section; σ _s is the yield strength of the ring blank material at the rolling temperature, and the yield strength of the aluminum alloy in the hot-rolled state in this embodiment is about 66.5MPa ; l _N is the effective arm length of the contact force on the ring;

As shown in Figure 6, ΔR _max is the limit radius deviation of the ring under the limit contact force of the guide roller to meet the stiffness condition of the ring blank section, calculated according to formula (9):

In 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 embodiment is about 52.3 GPa.

Step 5: Substituting the theoretical limit contact force F _Nmax of the ring blank calculated in step 4 into formula (3) and converting it into the theoretical limit thrust F _1max of the hydraulic cylinder;

As shown in Fig. 7 and Fig. 8, in order to effectively control the position of the guide roller and the rotational speed of the tapered roller, according to the values of F ₁ , F _1max and ΔR _max , the actual value of the piston rod of the hydraulic cylinder can be adjusted according to formula (10). Position adjustment parameter ΔR _l :

According to formula (1), formula (3) and formula (9) in this embodiment, it is obtained that F ₁ =51443.6N, F _1max =61811.9N and ΔR _max =3.1mm, since F ₁ >0.8F _1max , according to the formula ( 10), Δl=ΔR _max =3.1mm is obtained.

According to the values of F ₁ , F _1max and ΔR _max , the adjustment parameter ΔR _z for adjusting the actual speed of the tapered roller is calculated according to formula (11):

According to formula (1), formula (3) and formula (9) in this embodiment, it is obtained that F ₁ =51443.6N, F _1max =61811.9N and ΔR _max =3.1mm, since F ₁ >0.6F _1max , according to the formula ( 11), get

ΔR _z =ΔR _max (F ₁ -0.6F _1max )/F _1max =3.1(51443.6-37087.1)/61811.9=0.7mm;

Step 6: According to the real-time outer diameter R _t of the ring blank, the actual position adjustment of the hydraulic cylinder piston rod ΔR _l , and the geometric relationship formed by the mutual positions of the various components in the special-shaped ring rolling forming device, calculate according to formula (12) and consider the hydraulic cylinder piston The effective length l' _BG (R _t +ΔR _l ) of the guide roller hydraulic cylinder after the actual position adjustment parameter ΔR _l of the rod is adjusted:

Adjust the current actual effective length l _BG of the guide roller hydraulic cylinder measured by the distance sensor built into the hydraulic cylinder to be consistent with the adjusted effective length l' _BG (R _t +ΔR _l ), and complete the length adjustment of the hydraulic cylinder;

According to the geometric relationship formed by the real-time wall thickness B _{t of} the ring blank, the real-time outer diameter R _t of the ring blank and the mutual positions of the various parts in the special-shaped ring rolling forming device, the adjustment parameter ΔR _z of the actual speed of the tapered roller is calculated according to formula (13) Rear taper roller speed w' _z (R _t +ΔR _z ):

In the formula (13), V _d is the linear velocity of the driving roller. In this embodiment, V _d =720mm/s ^-1 , S _m is the distance from the center diameter of the apex of the tapered roller, and A _c is the semi-cone angle of the tapered roller.

Adjust the current actual cone roll speed w _z measured by the built-in sensor to be consistent with the adjusted cone roll speed w' _z (R _t +ΔR _z ), and complete the cone roll speed adjustment;

Considering the poor rigidity condition of the aluminum alloy hot rolling state, as shown in Fig. 9, the adjustment formula of the core roll feed speed v _x considering the deformation trend of the ring is set as follows:

According to formula (1) and formula (3) in this embodiment, get F ₁ =51443.6N and F _1max =6181111.9N, because F ₁ >0.8F _1max , according to formula (14), get v _x =0.1mm/s .

In formula (14), _v'x is the preset theoretical feed speed of the core roller.

Some relevant parameters in the present embodiment are given by Table 1 and Table 2:

Table 1 Parameters of large special-shaped ring rolling equipment

Table 2 Parameters of the rolling process of large special-shaped rings

In summary, the present invention aims at the problem of instability in the rolling process of aluminum alloy special-shaped rings, and proposes a special-shaped ring rolling method based on position-force feedback. Based on the data, a special-shaped ring rolling stability control method based on the pressure signal feedback of the hydraulic cylinder of the guide roller is proposed, and the strategy of the position of the guide roller, the speed of the tapered roller and the feed speed of the core roll is formulated, which makes up for the lack of time for the measurement roll to reflect after the core roll is fed. Insufficient ring status.

Those skilled in the art can easily understand that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should include Within the protection 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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