CN116511588B - Material pushing control method and device, shearing machine and computer readable storage medium - Google Patents
Material pushing control method and device, shearing machine and computer readable storage medium Download PDFInfo
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- CN116511588B CN116511588B CN202310385960.3A CN202310385960A CN116511588B CN 116511588 B CN116511588 B CN 116511588B CN 202310385960 A CN202310385960 A CN 202310385960A CN 116511588 B CN116511588 B CN 116511588B
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000010008 shearing Methods 0.000 title claims abstract description 20
- 239000000463 material Substances 0.000 title claims description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 230000001105 regulatory effect Effects 0.000 claims abstract description 56
- 230000033228 biological regulation Effects 0.000 claims abstract description 51
- 230000001276 controlling effect Effects 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 18
- 230000006698 induction Effects 0.000 claims description 72
- 230000000875 corresponding effect Effects 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000002596 correlated effect Effects 0.000 claims description 6
- 239000002184 metal Substances 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000007769 metal material Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 3
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- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D33/00—Accessories for shearing machines or shearing devices
- B23D33/02—Arrangements for holding, guiding, and/or feeding work during the operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The application provides a pushing control method, a pushing control device, a shearing machine and a computer readable storage medium, and relates to the technical field of metal recovery equipment, wherein the pushing control method comprises the following steps: determining a pushing distance L, wherein the pushing distance L is the distance between a pushing start point and a pushing end point of the pushing head in one pushing process; determining a speed regulation distance L1, and determining the position of a speed regulation node according to the speed regulation distance L1; the speed regulation distance L1 is the distance between a speed regulation node and a pushing end point; when the pushing head reaches a preset speed regulation node in the pushing process, regulating and controlling the comprehensive motion parameter Q i so as to keep the comprehensive motion parameter Q i within a preset range; according to the application, the speed regulating node is designed, and the comprehensive motion parameter Q i is regulated and controlled at the speed regulating node so as to keep the comprehensive motion parameter Q i within a preset range, so that the optimal efficiency and precision requirements can be met, and the error influence caused by uneven motion speed of the push head is greatly reduced.
Description
Technical Field
The application relates to the technical field of metal recovery equipment, in particular to a pushing control method, a pushing control device, a shearing machine and a computer readable storage medium.
Background
During the feeding of the shears, the length of each feed needs to be controlled. By taking the proximity switch as a sensor, when the metal material passes in front of the proximity switch sensing head, the metal material can be sensed by the proximity switch sensing head, and when the gap passes in front of the proximity switch sensing head, the metal material can not be sensed, so that when the push belt passes in front of the proximity switch sensing head with the sensing plate, the proximity switch can output alternating signals for sensing intervals. Since the distance between the intervals is set to L0, the advance distance Li of the sensor plate at a certain time is equal to l0×i by counting the alternating signals and assuming that the count is i, and the position of the pusher can be perceived by counting. So that theoretically, the advancing distance of the push head can be controlled by counting, and the shorter the sensing interval is, the higher the control precision is.
However, in practice, the accurate control requirement cannot be met only by controlling the sensing distance, because the push head cannot be stopped immediately after the stop signal is obtained, the sliding phenomenon occurs, the sliding distance is uncertain, the sliding distance is related to the inertial speed of the push head at the moment and the resistance encountered, if the resistance at the stop moment is large, the sliding distance of the push head is small, if the resistance is small, the sliding distance of the push head is large, the most common method for improving the problem is an advanced deceleration method, but the extremely high precision is required, the advance of each deceleration is related to the magnitude of the deceleration, if the simple distance for decelerating in advance is set to be long enough, the speed is reduced to be the lowest, the good precision effect can be achieved, but the time efficiency of pushing is seriously influenced, so that the efficiency and the precision of pushing are difficult to consider.
Disclosure of Invention
The technical problem to be solved by the application is to provide a pushing control method, a pushing control device, a shearing machine and a computer readable storage medium for overcoming the defects in the prior art.
The pushing control method is applied to a pushing device of a shearing machine, and the pushing device comprises a pushing head, a driving source, a linkage piece and an inductor; the driving source is used for driving the pushing head to push materials forwards; the linkage piece is connected with the push head, and a first induction part and a second induction part are alternately arranged on the linkage piece along the front-back direction of the movement of the push head; the sensor can sense the first sensing part and the second sensing part and correspondingly output a first sensing signal corresponding to the first sensing part and a second sensing signal corresponding to the second sensing part; the pushing control method comprises the following steps:
determining a pushing distance L, wherein the pushing distance L is the distance between a pushing start point and a pushing end point of the pushing head in one pushing process;
Determining a speed regulation distance L1, and determining the position of a speed regulation node according to the speed regulation distance L1; the speed regulation distance L1 is the distance between a speed regulation node and a pushing end point;
When the pushing head reaches a preset speed regulation node in the pushing process, regulating and controlling the comprehensive motion parameter Q i so as to keep the comprehensive motion parameter Q i within a preset range; the calculation formula of the comprehensive motion parameter Q i is as follows:
Qi＝(Vi×Li+ai×L0)/(Li+L0)
Wherein V i is the average speed of the push head in the ith induction interval, V i＝L0/ti,ai is the acceleration parameter, a i＝(Vi-Vi-1)/(ti-ti-1); i is the number of induction sections included between the pushing start point and the current position, each induction section is composed of a first induction part and a second induction part which are adjacent, and the length of the induction section is L 0;ti which is the time of the pushing head moving in the ith induction section.
In an improved technical scheme, the driving source is a hydraulic cylinder, and the hydraulic cylinder is driven by oil supply of an electric proportional variable pump; the input current of the electric proportional variable pump is controlled by the controller;
the regulating and controlling comprehensive motion parameters Q i specifically comprise:
When the comprehensive motion parameter Q i is lower than the lower limit threshold Q min, adjusting the input current A of the electric proportional variable pump to the current upper limit A max;
when the comprehensive motion parameter Q i is higher than the upper limit threshold Q max, adjusting the input current A of the electric proportional variable pump to a current lower limit value A min;
When the integrated motion parameter Q i is between the lower threshold Q min and the upper threshold Q max, the input current a of the electric proportional variable pump is adjusted to a min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin).
In an improved technical scheme, the method further comprises the steps of:
determining a standard value Q 0 of the comprehensive motion parameter Q i;
and determining a lower limit threshold Q min and an upper limit threshold Q max according to the standard value Q 0, wherein Q min＝Q0-k1,Qmax＝Q0 +k2, k1, k2 are preset adjusting parameters, and k1, k2>0.
In an improved technical scheme, the method further comprises the following steps:
Obtaining a pushing load P of a driving source;
and when pushing materials each time, determining the speed regulating distance L1 and the position of the speed regulating node according to the pushing load P of pushing materials and the pushing distance L.
In an improved technical scheme, the calculation formula of the speed regulating distance L1 is as follows:
L1＝f(P)×k3×L
wherein f (P) is an influence factor positively correlated with the pushing load P, k3 is an adjustment constant, and k3>0.
On the other hand, the application also provides a pushing control device, which is applied to a pushing device of the shearing machine and comprises a pushing head, a driving source, a linkage piece and an inductor; the driving source is used for driving the pushing head to push materials forwards; the linkage piece is connected with the push head, and a first induction part and a second induction part are alternately arranged on the linkage piece along the front-back direction of the movement of the push head; the sensor can sense the first sensing part and the second sensing part and correspondingly output a first sensing signal corresponding to the first sensing part and a second sensing signal corresponding to the second sensing part; the pushing control device comprises:
The first determining module is used for determining a pushing distance L, wherein the pushing distance L is the distance between a pushing starting point and a pushing end point of the pushing head in one pushing process;
the second determining module is used for determining a speed regulating distance L1 and determining the position of a speed regulating node according to the speed regulating distance L1; the speed regulation distance L1 is the distance between a speed regulation node and a pushing end point;
The regulating and controlling module is used for regulating and controlling the comprehensive motion parameter Q i when the pushing head reaches a preset speed regulating node in the pushing process so as to keep the comprehensive motion parameter Q i within a preset range; the calculation formula of the comprehensive motion parameter Q i is as follows:
Qi＝(Vi×Li+ai×L0)/(Li+L0)
Wherein V i is the average speed of the push head in the ith induction interval, V i＝L0/ti,ai is the acceleration parameter, a i＝(Vi-Vi-1)/(ti-ti-1); i is the number of induction sections included between the pushing start point and the current position, each induction section is composed of a first induction part and a second induction part which are adjacent, and the length of the induction section is L 0;ti which is the time of the pushing head moving in the ith induction section.
In another aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the above-described pushing control method.
On the other hand, the application also provides a shearing machine, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the pushing control method when executing the computer program.
The application provides a pushing control method, which adopts an inductor to induce a first induction part and a second induction part of a linkage piece, and correspondingly outputs a first induction signal corresponding to the first induction part and a second induction signal corresponding to the second induction part. The controller of the shearing machine counts according to the alternating signals to determine the advancing distance and the advancing position of the linkage piece and the pushing head. According to the application, the speed regulating node is designed, and the comprehensive motion parameter Q i is regulated and controlled at the speed regulating node so as to keep the comprehensive motion parameter Q i within a preset range, so that the optimal efficiency and precision requirements can be met, and the error influence caused by uneven motion speed of the push head is greatly reduced.
Drawings
Fig. 1 is a flowchart of a pushing control method according to an embodiment of the present application.
FIG. 2 is a second flowchart of a pushing control method according to an embodiment of the present application.
FIG. 3 is a third flowchart of a pushing control method according to an embodiment of the application.
Fig. 4 is a schematic structural diagram of a pushing device according to an embodiment of the present application.
FIG. 5 is a second schematic diagram of a pushing device according to an embodiment of the present application.
Fig. 6 is a schematic block diagram of a pushing device in an embodiment of the application.
Fig. 7 is a schematic block diagram of a pushing control device in an embodiment of the present application.
Reference numerals: the pushing device 100, the pushing head 110, the driving source 120, the sensing assembly 130, the linkage piece 131, the first sensing part 131a, the second sensing part 131b, the sensor 132, the controller 140 and the material box 200.
Detailed Description
The following are specific embodiments of the present application and the technical solutions of the present application will be further described with reference to the accompanying drawings, but the present application is not limited to these embodiments. In the following description, specific details such as specific configurations and components are provided merely to facilitate a thorough understanding of embodiments of the application. It will therefore be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
In addition, the embodiments of the present application and the features of the embodiments may be combined with each other without collision.
The embodiment of the application provides a pushing control method, which is applied to a pushing device of a shearing machine and can be used for considering feeding efficiency and precision, and by designing a speed regulation node, the comprehensive motion parameter Q i is regulated and controlled at the speed regulation node so as to keep the comprehensive motion parameter Q i within a preset range, thereby achieving the best efficiency and precision requirements and greatly reducing the error influence caused by uneven pushing head motion speed. The pushing control method is specifically described below with reference to the accompanying drawings.
The application provides a pushing control method, which comprises steps S101 to S103, wherein the pushing control method is applied to a pushing device of a shearing machine, and referring to fig. 4 and 5, the pushing device 100 comprises a pushing head 110, a driving source 120, a linkage piece 131 and an inductor 132; the driving source 120 is configured to drive the pushing head 110 to push the material forward. The linkage member 131 is connected to the push head 110, and first sensing portions 131a and second sensing portions 131b are alternately arranged on the linkage member 131 along the front-rear direction of the movement of the push head 110. The sensor 132 is capable of sensing the first sensing portion 131a and the second sensing portion 131b, and outputting a first sensing signal corresponding to the first sensing portion 131a and a second sensing signal corresponding to the second sensing portion 131b.
Specifically, referring to fig. 4 to 6, the main machine of the gantry shearing machine comprises a gantry, a movable tool rest and a fixed tool rest, and the movable tool rest moves up and down under the drive of a hydraulic cylinder and is matched with the fixed tool rest to shear materials. The pushing device 100 is used for continuously pushing the material forward, the pushing device 100 moves forward a distance each time the material in the bin 200 is pushed, the shearing device of the host machine shears the material into finished waste material with a certain size and convenient for recovery, and therefore, the sheared length of the material is determined by the pushed distance each time. During the forward movement of the push head 110, the sensing component 130 is configured to sense the position of the push head 110 and output a position signal of the push head 110 to the controller 140. The power output of the driving source 120 is coupled with the sensing assembly 130 under the control of the controller 140, so that the advancing distance of the pusher 110, i.e., the pushing distance of the pushed material at one time, can be controlled more precisely. It should be understood that, compared with the method of adopting time control to push the material distance in the prior art, the pushing device provided by the application can control the pushing distance more accurately, and is not affected by load, so that the pushing distance of each pushing can be ensured to be more stable, and the error is smaller. Therefore, the pushing device provided by the application can control the pushing distance of each time more accurately, realize uniform discharging, not only improve the quality of discharged finished products, but also effectively improve the productivity of the gantry shears.
Referring to fig. 4 and 5, the sensing assembly 130 includes a linkage 131, and a sensor 132. Wherein, the linkage member 131 is linked with the push head 110, and the sensor 132 is used for sensing the position of the linkage member 131. The sensor 132 is electrically connected to the controller 140. Specifically, since the link member 131 is linked with the push head 110 to advance and retreat in synchronization, the position of the push head 110 can be measured by the link member 131. Here, the linkage member 131 may be directly connected to the push head 110, or may be connected to the push head 110 by other members. Further, the sensor 132 may continuously output a position signal to the controller 140 through an electrical connection relationship, and the controller 140 may perform feedback control on the driving source 120 according to the position signal sensed by the sensor 132, so as to precisely control the distance that the driving source 120 drives the pusher 110 to advance.
Further, the first sensing portions 131a and the second sensing portions 131b are alternately arranged on the linkage member 131 along the front-rear direction of the movement of the push head 110; the sensor 132 is capable of sensing the first sensing portion 131a and the second sensing portion 131b, and correspondingly outputting two different sensing signals to the controller 140. As the pusher 110 advances with the linkage member 131, the first sensing portion 131a and the second sensing portion 131b on the linkage member 131 alternately pass the position of the sensor 132, when the first sensing portion 131a passes the sensor 132, the sensor 132 generates a first sensing signal to the controller 140, and when the second sensing portion 131b passes the sensor 132, the sensor 132 generates a second sensing signal to the controller 140. Thus, as the linkage 131 advances, the sensor 132 alternately outputs the first sensing signal and the second sensing signal to the controller 140. Since the lengths occupied by the first sensing portion 131a and the second sensing portion 131b are determined, the controller 140 may obtain the advancing distance of the link 131 and the pusher 110 by counting the first sensing signal and the second sensing signal and by counting. The controller 140 counts the first sensing portion 131a and the second sensing portion 131b corresponding to the advancing distance of the pusher 110, so that the number of counts can be controlled to precisely control the pushing distance each time.
With further reference to fig. 5, the length interval a occupied by the first sensing portion 131a and the length interval b occupied by the second sensing portion 131b alternate with each other, and sequentially pass through the position where the sensor 132 is located. The sensor 132 may be provided as a non-contact sensor, e.g., a proximity switch, an ultrasonic sensor, an infrared sensor. Specifically, taking a proximity switch as an example, when a metal material passes in front of a proximity switch induction head, the proximity switch can generate induction to output a first induction signal, and when a gap passes in front of the proximity switch induction head, the proximity switch can not generate induction to output a second induction signal, so that the proximity switch alternately outputs the first induction signal and the second induction signal along with the advance of the push head. In a specific example of the present application, the first sensing portion 131a is a physical structure; the second sensing portion 131b has a notch structure. Here, the sensor 132 may sense different signals according to the physical structure and the notch structure. Further, referring to fig. 5, the first sensing portions 131a and the second sensing portions 131b alternate with each other, and are arranged on the linkage member 131 to form a tooth structure. In a specific example of the present application, the first sensing portion 131a is a metal structure; the second sensing portion 131b is a non-metal structure; the sensor 132 is a metal detection sensor. Here, the sensor 132 may sense different signals according to the metallic structure and the nonmetallic structure. It should be appreciated that the placement of the first sensing location 131a and the second sensing location 131b is related to the type of sensor 132. For example, in the above-mentioned scheme, the first sensing portion 131a is a solid structure, the second sensing portion 131b is a notch structure, and the sensor 132 may be configured as an infrared sensor. Specifically, the infrared sensor includes an infrared transmitting head and an infrared receiving head, and when the physical structure passes through the infrared sensor, the infrared transmitting head can shield the infrared, and the infrared receiving head of the infrared sensor can not sense the infrared, at this time, the infrared sensor outputs a first sensing signal. When the notch structure passes through the infrared sensor, infrared rays can not be shielded, the receiving head of the infrared sensor can sense the infrared rays, and at the moment, the infrared sensor outputs a second sensing signal. Thus, as the push head advances, the infrared sensor alternately outputs the first sensing signal and the second sensing signal.
Referring to fig. 1, the pushing control method includes steps S101 to S103. According to the method, the speed regulating node is designed, and the comprehensive motion parameter Q i is regulated and controlled at the speed regulating node so as to keep the comprehensive motion parameter Q i within a preset range, so that the optimal efficiency and precision requirements can be met, and the error influence caused by uneven motion speed of the pushing head is greatly reduced. The following is a detailed description.
Step S101, determining a pushing distance L, wherein the pushing distance L is the distance between a pushing start point and a pushing end point of the pushing head in one pushing process.
Step S102, determining a speed regulation distance L1, and determining the position of a speed regulation node according to the speed regulation distance L1; the speed regulation distance L1 is the distance between the speed regulation node and the pushing end point.
Step S103, when the pushing head reaches a preset speed regulation node in the pushing process, regulating and controlling the comprehensive motion parameter Q i so as to keep the comprehensive motion parameter within a preset range; the calculation formula of the comprehensive motion parameter Q i is as follows:
Qi＝(Vi×Li+ai×L0)/(Li+L0)
Wherein V i is the average speed of the push head in the ith induction interval, V i＝L0/ti,ai is the acceleration parameter, a i＝(Vi-Vi-1)/(ti-ti-1); i is the number of induction sections included between the pushing start point and the current position, each induction section is composed of a first induction part and a second induction part which are adjacent, and the length of the induction section is L 0;ti which is the time of the pushing head moving in the ith induction section.
Specifically, in step S101, the pushing distance L is the distance between the pushing start point and the pushing end point of the pushing head in one pushing process, that is, the pushing stroke of the pushing device 100 for each pushing is equal to the distance of the material advancing in each pushing process. In step S101, the controller obtains a preset pushing distance L.
In step S102, a speed regulation node is disposed between the pushing start point and the pushing end point, and the speed regulation distance L1 is the distance between the speed regulation node and the pushing end point. The speed regulating node is the starting point of speed regulation, and in the pushing process, when the pushing head passes through the speed regulating node, the controller starts to regulate the speed of the pushing head.
In step S103, the adjustment parameter of the controller is the integrated motion parameter Q i, which can be used to reflect the inertia of the pushing head motion. In the final stage of the pushing stroke, the controller adjusts the comprehensive motion parameters Q i so as to keep the comprehensive motion parameters Q i within a preset range, thereby meeting the requirements of optimal efficiency and precision and greatly reducing the error influence caused by uneven pushing head motion speed.
Specifically, the driving source 120 is a hydraulic cylinder. The controller determines the inertia and the blocked force of the system at the moment through the calculated comprehensive motion parameter Q i, can automatically determine the speed regulating distance L1 and send out a regulating command, and the magnitude of the deceleration can be realized by controlling the flow of the hydraulic system given to the driving source 120, the magnitude of the flow can be realized by regulating the input current value of a variable control valve of the pump, and the hydraulic pump is a variable pump with a charging proportion regulating function.
In the embodiment of the application, the controller can be a PLC (programmable logic controller) and a control device with a processor.
In one embodiment of the application, the driving source is a hydraulic cylinder, and the hydraulic cylinder is driven by oil supply of an electric proportional variable pump; the input current of the electric proportional variable pump is controlled by the controller. Referring to fig. 2, in step S103, the adjusting and controlling the integrated motion parameter Q i specifically includes:
In step S1031, when the integrated motion parameter Q i is lower than the lower threshold Q min, the input current a of the electric proportional variable pump is adjusted to the current upper limit a max.
In step S1032, when the integrated motion parameter Q i is higher than the upper threshold Q max, the input current a of the electric proportional variable pump is adjusted to the current lower limit a min.
In step S1033, when the integrated motion parameter Q i is located between the lower threshold Q min and the upper threshold Q max, the input current a of the electric proportional variable pump is adjusted to a min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin).
Further, in a specific example, the pushing control method further includes the steps of:
determining a standard value Q 0 of the comprehensive motion parameter Q i;
and determining a lower limit threshold Q min and an upper limit threshold Q max according to the standard value Q 0, wherein Q min＝Q0-k1,Qmax＝Q0 +k2, k1, k2 are preset adjusting parameters, and k1, k2>0.
Specifically, before the shearing machine leaves the factory, a Q 0 which represents that the pushing speed is proper and stable is measured, and then Q min smaller than Q 0 and Q max larger than Q 0 are set on two sides of the shearing machine as two limits for judging the pushing speed by using the controller. Referring to fig. 5, the length of the sensing section is L 0, and the number of sensing sections corresponding to the pushing distance L is n, so that the pushing distance l=l 0 ×n each time. In a specific example, the speed regulation node g is set at a position 200mm away from the end point, the length of the sensing interval is 50mm, and the controller makes a final judgment at the n-4 th sensing interval each time.
Specifically, the driving source 120 is a hydraulic cylinder. The input current value of a variable control valve of the pump is adjusted, the hydraulic pump is a variable pump with a charging proportion adjusting function, and the specific control process is as follows:
The input current a of the variable pump is generally in a range: a min-Amax,Amin is generally not 0. Specifically, the temperature can be set to 200mA-600mA.
The corresponding integrated motion parameter Q i has been set to a range of Q min～Qmax,Qmin and not 0. Then the value of the control current required for deceleration a min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin). In other words, when the pushing speed is measured to be slower, the current should be given a large value, the output flow of the pump is large, the deceleration is small, and the same is true.
The control strategy of the final controller is as follows:
1) When Q i≤Qmin shows that the speed of the push head is too slow, the controller sends out a control command at the n-4 th sensing interval, and at this time, the control input current A is A max.
2) When Q min＜Qi＜Q0 shows that the push head speed is slightly slow, the controller sends out a control command at the n-4 th sensing interval, and at the moment, the control input current A is A min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin).
3) When Q 0≤Qi＜Qmax shows that the push head speed is slightly high, the controller sends out a control command at the n-4 th sensing interval, and at the moment, the control input current A is A min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin).
4) When Q i≥Qmax shows that the push head is too fast, the controller sends out a control command at the n-4 th sensing interval, and at the moment, the control input current A is A min.
In conclusion, the controller controls the speed of the push head by sensing the speed condition of the push head in advance and then controlling the speed of the push head by a fuzzy control deceleration strategy, so that the best compromise requirement of efficiency and precision can be achieved. Experiments show that the stop precision error of the pushing head can be controlled to reach a comparatively ideal range on the premise of maintaining the efficiency of pushing time to the greatest extent.
Referring to fig. 3, in an embodiment of the present application, the pushing control method further includes:
in step S301, a pushing load P of the driving source is obtained.
Step S302, determining a speed regulating distance L1 and the position of a speed regulating node according to the pushing load P of pushing and the pushing distance L during each pushing.
Further, the calculation formula of the speed regulation distance L1 is as follows:
L1＝f(P)×k3×L
wherein f (P) is an influence factor positively correlated with the pushing load P, k3 is an adjustment constant, and k3>0.
Specifically, when the mass of the material pushed by the pushing head is larger, the pushing resistance is larger, and the pushing load P of the driving source is larger, whereas when the mass of the material pushed by the pushing head is smaller, the pushing resistance is smaller, and the pushing load P of the driving source is smaller. Here, the pushing load P is used to reflect the magnitude of the pushing force output by the driving source, and may specifically be the pressure of the hydraulic system (when the driving source is a hydraulic cylinder) or the pushing force output by the driving source.
Here, f (P) is an influence factor positively correlated with the pushing load P, and when the pushing load P is larger, the influence factor f (P) is larger, and the speed adjustment distance L1 is larger. Conversely, when the pushing load P is smaller, the influence factor f (P) is smaller, and the speed adjustment distance L1 is smaller. Therefore, the controller can adjust the speed regulating distance L1 in real time when pushing according to the current pushing load P, so that the speed regulating distance L1 can be adjusted gradually, and the best compromise between efficiency and precision is realized.
Referring to fig. 7, the embodiment of the application further provides a pushing control device, which is applied to a pushing device of a shearing machine, wherein the pushing device comprises a pushing head, a driving source, a linkage piece and an inductor; the driving source is used for driving the pushing head to push materials forwards; the linkage piece is connected with the push head, and a first induction part and a second induction part are alternately arranged on the linkage piece along the front-back direction of the movement of the push head; the sensor can sense the first sensing part and the second sensing part and correspondingly output a first sensing signal corresponding to the first sensing part and a second sensing signal corresponding to the second sensing part; the pushing control device comprises: the system comprises a first determining module 701, a second determining module 702 and a regulating and controlling module.
A first determining module 701, configured to determine a pushing distance L, where the pushing distance L is a distance between a pushing start point and a pushing end point of the pushing head in a one-time pushing process;
A second determining module 702, configured to determine a speed regulation distance L1, and determine a position of a speed regulation node according to the speed regulation distance L1; the speed regulation distance L1 is the distance between a speed regulation node and a pushing end point;
the regulating and controlling module 703 is used for regulating and controlling the comprehensive motion parameter Q i when the pushing head reaches a preset speed regulating node in the pushing process so as to keep the comprehensive motion parameter Q i within a preset range; the calculation formula of the comprehensive motion parameter Q i is as follows:
Qi＝(Vi×Li+ai×L0)/(Li+L0)
Wherein V i is the average speed of the push head in the ith induction interval, V i＝L0/ti,ai is the acceleration parameter, a i＝(Vi-Vi-1)/(ti-ti-1); i is the number of induction sections included between the pushing start point and the current position, each induction section is composed of a first induction part and a second induction part which are adjacent, and the length of the induction section is L 0;ti which is the time of the pushing head moving in the ith induction section.
In one embodiment, the driving source is a hydraulic cylinder, and the hydraulic cylinder is driven by oil supply of an electric proportional variable pump; the input current of the electric proportional variable pump is controlled by the controller;
The regulation module 703 is specifically configured to:
When the comprehensive motion parameter Q i is lower than the lower limit threshold Q min, adjusting the input current A of the electric proportional variable pump to the current upper limit A max;
when the comprehensive motion parameter Q i is higher than the upper limit threshold Q max, adjusting the input current A of the electric proportional variable pump to a current lower limit value A min;
When the integrated motion parameter Q i is between the lower threshold Q min and the upper threshold Q max, the input current a of the electric proportional variable pump is adjusted to a min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin).
In an embodiment, further comprising:
The third determining module is configured to determine a standard value Q 0 of the integrated motion parameter Q i, and determine a lower limit threshold value Q min and an upper limit threshold value Q max according to the standard value Q 0, where Q min＝Q0-k1,Qmax＝Q0 +k2, k1, k2 are preset adjustment parameters, and k1, k2>0.
In an embodiment, further comprising:
And the fourth determining module is used for acquiring the pushing load P of the driving source and determining the speed regulating distance L1 and the position of the speed regulating node according to the pushing load P of pushing and the pushing distance L when pushing the material each time.
Further, the calculation formula of the speed regulation distance L1 is as follows:
L1＝f(P)×k3×L
wherein f (P) is an influence factor positively correlated with the pushing load P, k3 is an adjustment constant, and k3>0.
The pushing control device provided above corresponds to the pushing control method provided in the previous section, the technical means and the technical effects are all corresponding, and the related content can refer to the description of the pushing control method in the previous section, which is not repeated here.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the steps of the pushing control method. Regarding the pushing control method, reference may be made to the content of the previous part, and details are not repeated here.
The embodiment of the application also provides a shearing machine, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the pushing control method when executing the computer program.
In the embodiment of the application, the pushing control method adopts the inductor to induce the first induction part and the second induction part of the linkage piece, and correspondingly outputs a first induction signal corresponding to the first induction part and a second induction signal corresponding to the second induction part. The controller of the shearing machine counts according to the alternating signals to determine the advancing distance and the advancing position of the linkage piece and the pushing head. According to the application, the speed regulating node is designed, and the comprehensive motion parameter Q i is regulated and controlled at the speed regulating node so as to keep the comprehensive motion parameter Q i within a preset range, so that the optimal efficiency and precision requirements can be met, and the error influence caused by uneven motion speed of the push head is greatly reduced.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the application. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the application or exceeding the scope of the application as defined in the accompanying claims.
Claims (4)
1. The pushing control method is characterized by being applied to a pushing device of the shearing machine, wherein the pushing device comprises a pushing head, a driving source, a linkage piece and an inductor; the driving source is used for driving the pushing head to push materials forwards; the linkage piece is connected with the push head, and a first induction part and a second induction part are alternately arranged on the linkage piece along the front-back direction of the movement of the push head; the sensor can sense the first sensing part and the second sensing part and correspondingly output a first sensing signal corresponding to the first sensing part and a second sensing signal corresponding to the second sensing part; the pushing control method comprises the following steps:
determining a pushing distance L, wherein the pushing distance L is the distance between a pushing start point and a pushing end point of the pushing head in one pushing process;
Determining a speed regulation distance L1, and determining the position of a speed regulation node according to the speed regulation distance L1; the speed regulation distance L1 is the distance between a speed regulation node and a pushing end point;
When the pushing head reaches a preset speed regulation node in the pushing process, regulating and controlling the comprehensive motion parameter Q i so as to keep the comprehensive motion parameter Q i within a preset range; the calculation formula of the comprehensive motion parameter Q i is as follows:
Qi＝(Vi×Li+ai×L0)/(Li+L0)
Wherein V i is the average speed of the push head in the ith induction interval, V i＝L0/ti,ai is the acceleration parameter, a i＝(Vi-Vi-1)/(ti-ti-1); i is the number of induction sections included between the pushing start point and the current position, each induction section is composed of a first induction part and a second induction part which are adjacent, and the length of the induction section is L 0;ti which is the time of the pushing head moving in the ith induction section;
The driving source is a hydraulic cylinder, and the hydraulic cylinder is driven by oil supply of the electric proportional variable pump; the input current of the electric proportional variable pump is controlled by a controller;
the regulating and controlling comprehensive motion parameters Q i specifically comprise:
determining a standard value Q 0 of the comprehensive motion parameter Q i;
Determining a lower limit threshold Q min and an upper limit threshold Q max according to the standard value Q 0, wherein Q min＝Q0-k1,Qmax＝Q0 +k2, k1, k2 are preset adjusting parameters, and k1, k2>0;
When the comprehensive motion parameter Q i is lower than the lower limit threshold Q min, adjusting the input current A of the electric proportional variable pump to the current upper limit A max;
when the comprehensive motion parameter Q i is higher than the upper limit threshold Q max, adjusting the input current A of the electric proportional variable pump to a current lower limit value A min;
When the comprehensive motion parameter Q i is located between the lower limit threshold Q min and the upper limit threshold Q max, the input current A of the electric proportional variable pump is regulated to be A min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin);
the step of determining the speed regulation distance L1 and determining the position of the speed regulation node according to the speed regulation distance L1 comprises the following steps:
Obtaining a pushing load P of a driving source;
when pushing materials each time, determining the speed regulating distance L1 and the position of a speed regulating node according to the pushing load P of pushing materials and the pushing distance L; the calculation formula of the speed regulation distance L1 is as follows:
L1＝f(P)×k3×L
wherein f (P) is an influence factor positively correlated with the pushing load P, k3 is an adjustment constant, and k3>0.
2. The pushing control device is applied to a pushing device of a shearing machine and comprises a pushing head, a driving source, a linkage piece and an inductor; the driving source is used for driving the pushing head to push materials forwards; the linkage piece is connected with the push head, and a first induction part and a second induction part are alternately arranged on the linkage piece along the front-back direction of the movement of the push head; the sensor can sense the first sensing part and the second sensing part and correspondingly output a first sensing signal corresponding to the first sensing part and a second sensing signal corresponding to the second sensing part; the pushing control device comprises:
The first determining module is used for determining a pushing distance L, wherein the pushing distance L is the distance between a pushing starting point and a pushing end point of the pushing head in one pushing process;
the second determining module is used for determining a speed regulating distance L1 and determining the position of a speed regulating node according to the speed regulating distance L1; the speed regulation distance L1 is the distance between a speed regulation node and a pushing end point;
the step of determining the speed regulation distance L1 and determining the position of the speed regulation node according to the speed regulation distance L1 comprises the following steps:
Obtaining a pushing load P of a driving source;
when pushing materials each time, determining the speed regulating distance L1 and the position of a speed regulating node according to the pushing load P of pushing materials and the pushing distance L; the calculation formula of the speed regulation distance L1 is as follows:
L1＝f(P)×k3×L
Wherein f (P) is an influence factor positively correlated with the pushing load P, k3 is an adjustment constant, and k3>0;
The regulating and controlling module is used for regulating and controlling the comprehensive motion parameter Q i when the pushing head reaches a preset speed regulating node in the pushing process so as to keep the comprehensive motion parameter Q i within a preset range; the calculation formula of the comprehensive motion parameter Q i is as follows:
Qi＝(Vi×Li+ai×L0)/(Li+L0)
Wherein V i is the average speed of the push head in the ith induction interval, V i＝L0/ti,ai is the acceleration parameter, a i＝(Vi-Vi-1)/(ti-ti-1); i is the number of induction sections included between the pushing start point and the current position, each induction section is composed of a first induction part and a second induction part which are adjacent, and the length of the induction section is L 0;ti which is the time of the pushing head moving in the ith induction section;
The driving source is a hydraulic cylinder, and the hydraulic cylinder is driven by oil supply of the electric proportional variable pump; the input current of the electric proportional variable pump is controlled by a controller;
the regulating and controlling comprehensive motion parameters Q i specifically comprise:
determining a standard value Q 0 of the comprehensive motion parameter Q i;
Determining a lower limit threshold Q min and an upper limit threshold Q max according to the standard value Q 0, wherein Q min＝Q0-k1,Qmax＝Q0 +k2, k1, k2 are preset adjusting parameters, and k1, k2>0;
When the comprehensive motion parameter Q i is lower than the lower limit threshold Q min, adjusting the input current A of the electric proportional variable pump to the current upper limit A max;
when the comprehensive motion parameter Q i is higher than the upper limit threshold Q max, adjusting the input current A of the electric proportional variable pump to a current lower limit value A min;
When the integrated motion parameter Q i is between the lower threshold Q min and the upper threshold Q max, the input current a of the electric proportional variable pump is adjusted to a min+(Qmax-Qi)/(Qmax-Qmin)×(Amax-Amin).
3. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, realizes the steps of the pushing control method according to claim 1.
4. A shearer comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the pushing control method of claim 1 when executing the computer program.
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