CN207105676U - A kind of composite press levelling device - Google Patents
A kind of composite press levelling device Download PDFInfo
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- CN207105676U CN207105676U CN201720779720.1U CN201720779720U CN207105676U CN 207105676 U CN207105676 U CN 207105676U CN 201720779720 U CN201720779720 U CN 201720779720U CN 207105676 U CN207105676 U CN 207105676U
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Abstract
It the utility model is related to a kind of composite press levelling device, including controller and the master cylinder, the sliding block and kicker cylinder for installation mold that set gradually from top to bottom；The hydraulic stem of the master cylinder is fixed on the upper surface of sliding block, and the hydraulic stem of the kicker cylinder is fixed on the lower surface of sliding block；The sliding block four corners below is also respectively provided with leveling hydraulic cylinder；The levelling device also includes the first displacement transducer of collection master cylinder displacement signal, gathers the first pressure sensor of kicker cylinder pressure signal and gathers the second displacement sensor of leveling hydraulic cylinder displacement signal；The controller includes the data acquisition module of electric signal connection, data processing module, data outputting module and regulation and control module successively；The signal of first displacement transducer, first pressure sensor and second displacement sensor transmits to data processing module processing the target power output for obtaining leveling hydraulic cylinder after data collecting module collected.
Description
Technical field
A kind of press supplementary structure is the utility model is related to, more particularly to a kind of composite press levelling device.
Background technology
Composite press levelling device is one of important equipment for manufacturing advanced composite material (ACM) product, be the advantage is that certainly
Dynamicization degree is strong, technology is simple, formed precision is high, Forming Quality is good, one-shot forming can be achieved and can continuously suppress, and
It is widely used in the high-technology fields such as aircraft, space flight, submarine, automobile.But during hydraulic press is compressing, due to
The difference of the pressure distribution of master cylinder and kicker cylinder inequality, the shape of composite product and temperature, system is caused to have stronger
Unbalance loading characteristic, such as the unbalance loading caused by uneven above-mentioned reason, sliding block run-off the straight will be caused, so as to influence composite product
Precision even mold damage.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of composite press levelling device, to solve
It is low to there is leveling efficiency in high speed leveling system, the problems such as leveling precision is not high and antijamming capability is not strong.It is of the present utility model
Technical scheme is as follows：
A kind of composite press levelling device, including controller and set gradually from top to bottom master cylinder, for pacifying
The sliding block and kicker cylinder of die-filling tool；The hydraulic stem of the master cylinder is fixed on the upper surface of sliding block, and the hydraulic stem of the kicker cylinder is consolidated
It is scheduled on the lower surface of sliding block；The sliding block four corners below is also respectively provided with leveling hydraulic cylinder；The levelling device also includes adopting
Collect the first displacement transducer of master cylinder displacement signal, the first pressure sensor of collection kicker cylinder pressure signal and collection leveling
The second displacement sensor of hydraulic cylinder displacement signal；The controller includes data acquisition module, the number of electric signal connection successively
According to processing module, data outputting module and regulation and control module；First displacement transducer, first pressure sensor and second displacement pass
The signal of sensor transmits to data processing module processing the target output for obtaining leveling hydraulic cylinder after data collecting module collected
Power, target export force signal and transmitted through data outputting module to regulation and control module；Regulate and control module and leveling is adjusted according to target power output
The power output of hydraulic cylinder.
Wherein, the data processing module includes data memory module, compared with the state space equation of sliding block
Comparison module and the computing module for calculating leveling hydraulic cylinder output leveling power.
Wherein, the leveling hydraulic cylinder is double acting list rod cavate hydraulic cylinder.
Wherein, the leveling hydraulic cylinder is provided with second pressure biography respectively by an oil pump feed in the leveling hydraulic cylinder
Sensor；The second pressure sensor is connected with data acquisition module electric signal.
The utility model has the advantages that：
1st, the utility model collection related data post-processes data and exports the target power output of leveling hydraulic cylinder, to sliding block
It is controlled, effectively prevent in leveling control, leveling system has larger impact and vibration to slide block movement, improves simultaneously
The response speed and leveling precision of system.With comparison module and computing module, it is primarily based on slip bocks system in design process and builds
Vertical mathematical modeling is simultaneously converted to state space equation, and is compared, calculates and output control, can be with faster response speed
To sliding block carry out level control and there can be good inhibiting effect to unknown disturbances and Parameter Perturbation, improve system
Robustness.
2nd, the utility model is computed drawing the target power output of leveling hydraulic cylinder using input displacement amount, simplifies installation
The mechanical structure of obliquity sensor.The steady-state error for effectively avoiding each leveling hydraulic cylinder output leveling power is horizontal to sliding block
The influence of control.
3rd, the method that the utility model uses the Stress control of four leveling hydraulic cylinders, Stress control fast response time, from
And improve the response speed of system.Calculated through comparing, the target output leveling power of the energy each leveling hydraulic cylinder of optimization, and then
System larger impact and vibration are avoided, improves the service life of press.
Brief description of the drawings
Fig. 1 is the schematic diagram of the utility model levelling device；
Fig. 2 is the utility model the Design of Structure Transformation Controlling System for Sliding Modular method schematic diagram；
Fig. 3 the utility model is used for the operational flow diagram of the torque leveling control method of composite press；
Fig. 4 is the schematic diagram of the utility model controller and each sensor.
Reference is expressed as in figure：
1- master cylinders, the displacement transducers of 11- first, 2- sliding blocks, 3- kicker cylinders, 31- first pressures sensor, 41- seconds
Displacement sensor, 42- second pressures sensor, 5- controllers, 51- data acquisition modules, 52- data processing modules, 521- data
Memory module, 522- comparison modules, 523- computing modules, 53- data outputting modules, 54- regulation and control module, 6- the first leveling liquid
Cylinder pressure, 7- the second leveling hydraulic cylinders, the leveling hydraulic cylinders of 8- the 3rd, the leveling hydraulic cylinders of 9- the 4th.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1,4, a kind of composite press levelling device, including controller 5 and set gradually from top to bottom
Master cylinder 1, sliding block 2 and kicker cylinder 3 for installation mold；The hydraulic stem of the master cylinder 1 is fixed on the upper surface of sliding block 2, institute
The hydraulic stem for stating kicker cylinder 3 is fixed on the lower surface of sliding block 2；The four corners below of sliding block 2 is also respectively provided with leveling hydraulic cylinder；
The levelling device also includes the first displacement transducer 11 of the collection displacement signal of master cylinder 1, the of the collection pressure signal of kicker cylinder 3
One pressure sensor 31 and the second displacement sensor 41 for gathering leveling hydraulic cylinder displacement signal；The controller 5 include according to
Data acquisition module 51, data processing module 52, data outputting module 53 and the regulation and control module 54 of secondary electric signal connection；First
The signal of displacement transducer 11, first pressure sensor 31 and second displacement sensor 41 passes after the collection of data acquisition module 51
The target power output that the processing of data processing module 52 obtains leveling hydraulic cylinder is transported to, target exports force signal through data outputting module
53 transmit to regulation and control module 54；Regulate and control the power output that module 54 adjusts leveling hydraulic cylinder according to target power output.
Wherein, the data processing module 52 includes data memory module 521, the state space equation progress with sliding block 2
The comparison module 522 and the computing module 523 of calculating leveling hydraulic cylinder output leveling power compared.
Wherein, the leveling hydraulic cylinder is double acting list rod cavate hydraulic cylinder.
Wherein, respectively by an oil pump (not shown) fuel feeding, the leveling hydraulic cylinder is interior to be set the leveling hydraulic cylinder
There is second pressure sensor 42；The second pressure sensor 42 is connected with the electric signal of data acquisition module 51.
Particular flow sheet is as follows：
Step 1：Signal Regulation master cylinder 1 He of the controller 5 according to the first displacement transducer 11 and first pressure sensor 31
The pressure of kicker cylinder 3, by judging whether sliding block 2 reaches leveling position, if not reaching leveling start bit, the first leveling hydraulic pressure
Cylinder 6, the second leveling hydraulic cylinder 7, the 3rd leveling hydraulic cylinder 8, the 4th leveling hydraulic cylinder 9 act as position-force control with sliding block one.
When sliding block 2 reaches leveling position, four leveling hydraulic cylinders are controlled by exporting different leveling masterpiece leveling.
Step 2：When sliding block reaches leveling position, system can pass through each leveling hydraulic cylinder of the multilevel iudge of comparison module 522
Leveling precision whether meet to require, if leveling precision meets to require, i.e. each leveling hydraulic cylinder in four leveling hydraulic cylinders
And the difference of the displacement of imaginary axis, within c mm, the leveling power output that four-corner leveling control system can then keep original continues with master
Cylinder down does accurate position-force control together.If leveling precision can not meet to require, four-corner leveling control system passes through
The displacement signal input computing module 523 that second displacement sensor 41 gathers four leveling hydraulic cylinders calculates.
Step 3：The calculating process of computing module 523 is as follows；Four leveling liquid are obtained by displacement versus time derived function
The instantaneous velocity of cylinder pressure, handles to obtain the displacement difference and speed difference of each diagonal cylinder by program, i.e. the first leveling hydraulic cylinder 6 and the
The displacement difference x of three leveling hydraulic cylinders 81With speed difference x3, the second leveling hydraulic cylinder 7 and the 4th leveling hydraulic cylinder 9 displacement difference x2
With speed difference x4；The input of the displacement difference and speed difference of each diagonal leveling hydraulic cylinder as Sliding mode variable structure control algorithm is obtained,
It can be calculated the difference of the target leveling power output of required each diagonal leveling hydraulic cylinder, i.e. the target leveling of the first leveling hydraulic cylinder 6
The difference u of power output and the target leveling power output of the 3rd leveling hydraulic cylinder 81, the target leveling power output of the second leveling hydraulic cylinder 7 with
The difference u of the target leveling power output of 4th leveling hydraulic cylinder 92。
Step 4：The difference of the target leveling power output of each diagonal leveling hydraulic cylinder obtained by step 3, by four cylinder leveling power point
The target leveling power output of each leveling hydraulic cylinder, i.e. the target leveling power output F of the first leveling hydraulic cylinder 6 can be obtained with algorithm1,
The target leveling power output F of two leveling hydraulic cylinder 72, the target leveling power output F of the 3rd leveling hydraulic cylinder 83, the 4th leveling hydraulic cylinder 9
Target leveling power output F4, acted in the horizontal control of sliding block 2, to improve the stationarity of leveling process and response speed
Degree.
Step 5：Judge whether to reach leveling stop bits, if do not reached, repeat step 2 arrives the process of step 4.Instead
It, leveling terminates.
Fig. 2 characterizes a kind of the Design of Structure Transformation Controlling System for Sliding Modular method of the passive type leveling system of multiple-input and multiple-output.
Specific design method is as follows：
Step 1：Mathematical modeling is carried out to sliding block first,Respectively with the inclination angle of x-axis and y-axis；F1、F2、F3、F4
The target output leveling power of respectively four leveling hydraulic cylinders；Jx、 JyRespectively rotary inertia of the sliding block around x-axis and y-axis；FpFor
Unknown offset loading force；Four leveling hydraulic cylinders are l apart from the distance of x-axisx；Apart from the distance l of y-axisy；Offset loading force is to the distance of x-axis
rx；Offset loading force to the distance of y-axis be ry.With that can be obtained according to the fixed-axis rotation rule of rigid body：
(1)；
It can be obtained according to the geometrical relationship of four leveling hydraulic cylinders:
Simultaneous formula (1) (1) and formula (2) (2) can eliminateWithIt can be gone with the speed and displacement of four leveling hydraulic cylinders
Sliding block is described around x-axis and the error of tilt of y-axis.It can be obtained with reference to kinematical equation：
yiThe displacement of respectively No. i-th leveling hydraulic cylinder；viThe speed of respectively No. i-th leveling hydraulic cylinder；
Simultaneous (1) formula (1), (2) formula (2) and (3) formula (3) simultaneous can obtain its mathematical modeling, and be translated into diagonal
The displacement difference and speed difference of leveling hydraulic cylinder are state variable, using the difference of diagonal leveling hydraulic cylinder target leveling power output as output
State space equation；
Step 2：Based on the state space equation designed by step 1, Sliding mode variable structure control algorithm is designed.Sliding moding structure
The design of control system is divided into two parts：A part is the design of sliding-mode surface, and another part sets for sliding mode control law
Meter.Specific design process is as follows：
Step 1：Because system has the system performance of multiple-input and multiple-output, it is necessary first to which state space equation is solved
Coupling computing, i.e. matrixing, obtain corresponding Decoupled Model.Model based on decoupling, designed with reference to optimal control theory optimal
Sliding-mode surface, make identified sliding mode asymptotically stability and there is good dynamic quality.Designed Optimal Sliding Mode face is s1
=x1+a·x3、 s2=x2+b·x4, wherein, a, b value determine s1And s2Rate of convergence；
s1：Sliding-mode surface 1；
s2：Sliding-mode surface 2；
a：The convergence coefficient of sliding-mode surface 1；
b：The convergence coefficient of sliding-mode surface 1；
x1：The displacement difference of first leveling hydraulic cylinder and the 3rd leveling hydraulic cylinder；
x2：The displacement difference of second leveling hydraulic cylinder and the 4th leveling hydraulic cylinder；
x3：The speed difference of first leveling hydraulic cylinder and the 3rd leveling hydraulic cylinder；
x4：The speed difference of second leveling hydraulic cylinder and the 4th leveling hydraulic cylinder.
Step 2：Devise behind corresponding Optimal Sliding Mode face, it is necessary to design the control law of Sliding mode variable structure control algorithm, i.e.,
Variable Structure Control how is selected to restrain u+And u-, it is met reaching condition, so as to form Fault slip rate on diverter surface.
To ensure that system mode can tend to sliding mode diverter surface with preferable motion state, devise and improved based on hyperbolic secant function
The Sliding mode variable structure control rule of Reaching Law.Improved Reaching Law isIts
In, k1、k2Value determine convergence sliding-mode surface degree；
k1：Reaching Law coefficient；k2：Reaching Law coefficient；s(t)：Sliding-mode surface.
Step 3：The sliding mode control algorithm based on hyperbolic secant function improved reaching law designed by step 2, according to
The displacement difference and speed difference of four leveling hydraulic cylinders input as controller, i.e. x1=y1-y3, x2=y2-y4, x3=v1-v3,x4
=v2-v4, obtain the difference u of the output target leveling power of the first leveling hydraulic cylinder 6 and the 3rd leveling hydraulic cylinder 81With the second leveling liquid
The difference u of the target output leveling power of the leveling hydraulic cylinder 9 of cylinder pressure 7 and the 4th2, i.e. u1=F1-F3、u2=F2-F4。
Step 4：From step 3, the leveling power output of the first leveling hydraulic cylinder 6 exports with the leveling of the 3rd leveling hydraulic cylinder 8
The difference u of power1, the difference u of the leveling power output of the second leveling hydraulic cylinder 7 and the target leveling power output of the 4th leveling hydraulic cylinder 92.By most
Among the target leveling power output of excellent allocation algorithm, the first leveling hydraulic cylinder 6 and the 3rd leveling hydraulic cylinder 8, there is a mesh all the time
It is d kN to mark leveling power output, and its diagonal leveling hydraulic cylinder target leveling power output is to export u by designed controller1's
Positive negative judgement, if just, then the target leveling power output F of the 3rd hydraulic cylinder 83=d kN, the target of the first leveling hydraulic cylinder 6
Leveling power output F1=F3+u1, conversely, then first hydraulic cylinder 6 gives target leveling power output F1=d kN, the 3rd leveling hydraulic cylinder 6
Target leveling power output F3=F1-u1；The target leveling power output of second leveling hydraulic cylinder 7 and the 4th leveling hydraulic cylinder 9 it
In, it is d kN to have a target leveling power all the time, and its diagonal leveling hydraulic cylinder target leveling power output is by designed control
Device processed exports u2Positive negative judgement, if just, then the 4th hydraulic cylinder 9 gives target leveling power output F4=d kN, the second leveling liquid
The target leveling power output F of cylinder pressure 72=F4+u1, conversely, then second hydraulic cylinder 7 gives target leveling power output F2=d kN, the 4th
The target leveling power output F of leveling hydraulic cylinder 94=F2-u2.By the target leveling power F of four leveling hydraulic cylinders1、F2、F3、F4Make
For sliding block, the horizontal control of sliding block is realized.
Fig. 3 schematically characterizes the operational flow diagram of the torque leveling control method for composite press.
Particular flow sheet is as follows：
Step 1：First by judging whether sliding block 2 reaches leveling position, if not reaching leveling start bit, the first leveling
Hydraulic cylinder 6, the second leveling hydraulic cylinder 7, the 3rd leveling hydraulic cylinder 8, the 4th leveling hydraulic cylinder 9 act as position closed loop with sliding block one
Control.When sliding block 2 reaches leveling position, four leveling hydraulic cylinders are controlled by exporting different leveling masterpiece leveling.
Step 2：When sliding block reaches leveling position, system can judge whether the leveling precision of each leveling hydraulic cylinder meets to want
Ask, if leveling precision meets to require, i.e. the difference of the displacement of each leveling hydraulic cylinder and imaginary axis is in c in four leveling hydraulic cylinders
Within mm, four-corner leveling control system can then keep original leveling power output to continue down to do accurate position together with master cylinder
Closed-loop control.If leveling precision can not meet to require, four-corner leveling control system gathers four leveling by displacement transducer
The displacement signal of hydraulic cylinder, and the instantaneous velocity of four leveling hydraulic cylinders is obtained by displacement versus time derived function, pass through journey
Sequence handles to obtain the displacement difference and speed difference of each diagonal cylinder, the i.e. displacement difference of the first leveling hydraulic cylinder 6 and the 3rd leveling hydraulic cylinder 8
x1With speed difference x3, the second leveling hydraulic cylinder 7 and the 4th leveling hydraulic cylinder 9 displacement difference x2With speed difference x4。
Step 3：Each diagonally displacement difference of leveling hydraulic cylinder and speed difference are obtained as the defeated of Sliding mode variable structure control algorithm
Enter, can be calculated the difference of the target leveling power output of required each diagonal leveling hydraulic cylinder, be i.e. the target of the first leveling hydraulic cylinder 6 is adjusted
The difference u of flat power output and the target leveling power output of the 3rd leveling hydraulic cylinder 81, the target leveling power output of the second leveling hydraulic cylinder 7
And the difference u of the target leveling power output of the 4th leveling hydraulic cylinder 92。
Step 4：The difference of the target leveling power output of each diagonal leveling hydraulic cylinder obtained by step 3, by four cylinder leveling power point
The target leveling power output of each leveling hydraulic cylinder, i.e. the target leveling power output F of the first leveling hydraulic cylinder 6 can be obtained with algorithm1,
The target leveling power output F of two leveling hydraulic cylinder 72, the target leveling power output F of the 3rd leveling hydraulic cylinder 83, the 4th leveling hydraulic cylinder 9
Target leveling power output F4, acted in the horizontal control of sliding block 2, to improve the stationarity of leveling process and response speed
Degree.
Step 5：Judge whether to reach leveling stop bits, if do not reached, repeat step 2 arrives the process of step 4.Instead
It, leveling terminates.
Embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical areas, similarly it is included in scope of patent protection of the present utility model.
Claims (4)
- A kind of 1. composite press levelling device, it is characterised in that：Set gradually including controller (5) and from top to bottom Master cylinder (1), sliding block (2) and kicker cylinder (3) for installation mold；The hydraulic stem of the master cylinder (1) is fixed on the upper of sliding block (2) End face, the hydraulic stem of the kicker cylinder (3) are fixed on the lower surface of sliding block (2)；Sliding block (2) four corners below is also set respectively There is leveling hydraulic cylinder；The levelling device also includes first displacement transducer (11) of collection master cylinder (1) displacement signal, gathered back The first pressure sensor (31) of journey cylinder (3) pressure signal and the second displacement sensor for gathering leveling hydraulic cylinder displacement signal (41)；The controller (5) includes the data acquisition module (51) of electric signal connection, data processing module (52), data successively Output module (53) and regulation and control module (54)；First displacement transducer (11), first pressure sensor (31) and second displacement The signal of sensor (41) transmits to data processing module (52) processing after data acquisition module (51) collection and obtains leveling liquid The target power output of cylinder pressure, target export force signal and transmitted through data outputting module (53) to regulation and control module (54)；Regulate and control module (54) power output of leveling hydraulic cylinder is adjusted according to target power output.
- A kind of 2. composite press levelling device as claimed in claim 1, it is characterised in that：The data processing module (52) data memory module (521), the comparison module (522) compared with the state space equation of sliding block (2) and meter are included Calculate the computing module (523) of leveling hydraulic cylinder output leveling power.
- A kind of 3. composite press levelling device as claimed in claim 2, it is characterised in that：The leveling hydraulic cylinder is double Act on single rod cavate hydraulic cylinder.
- A kind of 4. composite press levelling device as claimed in claim 3, it is characterised in that：The leveling hydraulic cylinder difference By an oil pump feed, second pressure sensor (42) is provided with the leveling hydraulic cylinder；The second pressure sensor (42) It is connected with data acquisition module (51) electric signal.
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| CN201720779720.1U CN207105676U (en) | 2017-06-30 | 2017-06-30 | A kind of composite press levelling device |
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| CN201720779720.1U CN207105676U (en) | 2017-06-30 | 2017-06-30 | A kind of composite press levelling device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263890A (en) * | 2017-06-30 | 2017-10-20 | 福建海源自动化机械股份有限公司 | Torque leveling control method and levelling device for composite press |
| CN109130178A (en) * | 2018-08-02 | 2019-01-04 | 合肥海闻自动化设备有限公司 | Leveling mechanism for three-dimensional additive printer |
| CN109177240A (en) * | 2018-09-14 | 2019-01-11 | 南通锻压设备如皋有限公司 | A kind of the four-corner leveling system and control method of composite material hydraulic machine |
| CN110027243A (en) * | 2019-05-13 | 2019-07-19 | 天津市天锻压力机有限公司 | It is a kind of that electric control system is actively leveled based on composite material press |
-
2017
- 2017-06-30 CN CN201720779720.1U patent/CN207105676U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263890A (en) * | 2017-06-30 | 2017-10-20 | 福建海源自动化机械股份有限公司 | Torque leveling control method and levelling device for composite press |
| CN109130178A (en) * | 2018-08-02 | 2019-01-04 | 合肥海闻自动化设备有限公司 | Leveling mechanism for three-dimensional additive printer |
| CN109130178B (en) * | 2018-08-02 | 2020-08-07 | 合肥海闻自动化设备有限公司 | Leveling mechanism for three-dimensional additive printer |
| CN109177240A (en) * | 2018-09-14 | 2019-01-11 | 南通锻压设备如皋有限公司 | A kind of the four-corner leveling system and control method of composite material hydraulic machine |
| CN109177240B (en) * | 2018-09-14 | 2020-07-17 | 南通锻压设备如皋有限公司 | Four-corner leveling system of composite hydraulic machine and control method |
| CN110027243A (en) * | 2019-05-13 | 2019-07-19 | 天津市天锻压力机有限公司 | It is a kind of that electric control system is actively leveled based on composite material press |
| CN110027243B (en) * | 2019-05-13 | 2021-06-08 | 天津市天锻压力机有限公司 | Active leveling electrical control system based on composite material press |
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