CN101704060B - Self-adaptive pre-control method for movable beam position of oversize water press - Google Patents
Self-adaptive pre-control method for movable beam position of oversize water press Download PDFInfo
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- CN101704060B CN101704060B CN2009102196059A CN200910219605A CN101704060B CN 101704060 B CN101704060 B CN 101704060B CN 2009102196059 A CN2009102196059 A CN 2009102196059A CN 200910219605 A CN200910219605 A CN 200910219605A CN 101704060 B CN101704060 B CN 101704060B
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Abstract
The invention relates to a self-adaptive pre-control method for movable beam position of oversize water press, aiming to develop a method with the function of self-adaptive pre-control of movable beam besides the function of normal position closed loop control according to the characteristics of the oversize hydraulic press for free forging in forging process such as heavy pressure, large inertia and multiple types; a predictive control calculating model is designed based on the comprehensive consideration of the factors such as various forgings, forging pressure of water press, inertia and lag of control valve assembly to pre-control the position through simple engineering arithmetic, thereby solving the difficulty for the movable beam of the water press to control the size precision of the forging in forging process; and the method efficiently solves the problem that the variation of the forgings, large pressure, large inertia and lag of control valve assembly influence the control of the forging precision, thereby reducing the follow-up processing time, improving working efficiency and decreasing the energy and material consumptions.
Description
Technical field
The present invention relates to super-huge hydraulic press for free forging apparatus control method.
Background technology
At present the present forging ' s block dimension precision of domestic old-fashioned large-scale hydraulic press be about 〉=± 10mm, even technical merit also can only reach ± 5mm than higher new-type large-scale hydraulic press.It is significant to energy savings, raw material to improve forging precision.Forge precision for improving, must improve the controlled motion precision of moving beam.But when moving beam is positioned at diverse location, because of the flexural deformation degree difference of column causes both gap differences; The forging radiant heat also can cause thermograde in column, strengthen the distortion of column.If by pure position closed loop control brake beam stroke, because of the movable part quality reach 600 surplus ton, simultaneously, under operating pressure, the strain of water is bigger in the working cylinder, after water-supply valve cut out, moving beam still continued to depress, simultaneously, forging kind difference, deflection is also different; Depress frequency height, moving beam position is difficult to reach accurate control requirement in addition.At existing problem in the above-mentioned prior art, a kind of novel self-adaptive pre-control method for movable beam position of oversize water press of research and design, existing problem is very necessary in the prior art thereby overcome.
Summary of the invention
In view of existing problem in the above-mentioned prior art, the objective of the invention is big pressure at this super-huge hydraulic press for free forging forging process, big inertia, characteristics wide in variety, develop out the pre-control method of moved cross beam position self adaptation, design a kind of PREDICTIVE CONTROL operational model, thereby solve the control difficult problem of hydraulic press moved cross beam and connected components forging ' s block dimension precision in forging process, develop a kind of method that except that having normal position closed loop control, has moved cross beam position self adaptation pre-control, to the many kinds of forging, dydraulic forging pressure, inertia, combined factors such as control valve group hysteresis are considered, by simple Engineering Algorithm to the position pre-control, thereby reach the purpose of dealing with problems.
The control system of super-huge hydraulic press moved cross beam of the present invention is made up of Programmable Logic Controller, execution control element, main working cylinder control valve, temperature sensor, main working cylinder, kicker cylinder, moved cross beam, displacement transducer, main working cylinder pressure sensor, kicker cylinder high pressure control valve; Described self-adaptive pre-control method for movable beam position of oversize water press step is as follows:
The first step in first time forging process, is measured in the forging process moved cross beam position in real time and is calculated the speed of service by displacement transducer, measures forging pressure, temperature sensor measurement forging temperature by main working cylinder pressure sensor; When output stops to pressurize in the closed-loop control of position, promptly control main working cylinder control valve and turn-off, sampling moved cross beam position, the speed of service, forging pressure, forging temperature at this moment.
Second step, the moved cross beam position during sampling beginning pressure release; Calculate last inertia by Programmable Logic Controller and forge path increment (Δ H
(n-1)), pre-control amount a reference value when this value conduct is forged next time;
The 3rd step is in this forging process, according to the moved cross beam position of measuring, forging pressure, forging temperature; Through operational model
Y (H)=K Δ H
(n-1)------(model 1)
Wherein: Δ H
(n-1)Last inertia forges path increment
K pressure, speed, temperature weighted coefficient
The pre-controlled position inertia lead of y (H)
Calculate pre-controlled position inertia lead (y (H)), again through Engineering Algorithm
Y (h)=k (Δ h
n+ y (H))------(model 2)
Wherein: Δ h
nRepresent that given finish-forging position and traveled distance are poor
K controls main working cylinder control valve output factor
The actual output of the main working cylinder control valve of y (h) controlling value
The position closed loop control output quantity of band pre-control when obtaining this after the computing and forging, and control main working cylinder control valve openings of sizes and close by carrying out control element;
With the last data of these data of forge gathering when forging next time, enter and forge in the operational model data next time.
Self-adaptive pre-control method for movable beam position of oversize water press of the present invention, the simplification implementation process is exactly:
1. measure the moved cross beam position in real time and calculate the speed of service, measure forging pressure, forging temperature;
2. moved cross beam position, the speed of service, forging pressure, forging temperature when sampling stops to pressurize;
3. the moved cross beam position when sampling begins pressure release;
4. will appeal data after the Engineering Algorithm computing pre-controlled position lead during next forging.
Dydraulic forging control accuracy of the present invention mainly is that the position of moved cross beam is accurately controlled.Accurately control needs precise displacement to measure, and with the hysteresis displacement sensor of two degree of precision, is placed on respectively in the kicker cylinder of hydraulic press diagonal both sides, to obtain the high precision displacement value.
The present invention adopts the position proportional closed-loop control to stroke, for its big pressure, big inertia, characteristics wide in variety, a kind of PREDICTIVE CONTROL operational model that has designed said method calculates the pre-control amount, position closed loop is carried out the pre-control compensation, modifying factor kind difference, the position deviation that moving crossbeam inertia is big, the release of driving medium elastic deformation energy causes.Control system need be with big flow, the fast control ratio valve group of response as executive component, and the assurance system is controlled.
Application practice of the present invention shows that this method has been eliminated influence controls such as the many kinds of forging, big pressure, big inertia, the hysteresis of control valve group effectively and forged precision problem, has reduced the following process time, has improved production efficiency, has reduced energy consumption and spillage of material.
Description of drawings
The present invention has a width of cloth accompanying drawing,
Fig. 1 is a control system schematic diagram of the present invention
Among the figure: 1, Programmable Logic Controller 2, execution control element 3, main working cylinder control valve 4, temperature sensor 5, main working cylinder 6, kicker cylinder 7, moved cross beam 8, displacement transducer 9, main working cylinder pressure sensor 10, kicker cylinder high pressure control valve.
The specific embodiment
Specific embodiments of the invention as shown in drawings, accompanying drawing 1 is depicted as control system schematic diagram of the present invention, is made up of Programmable Logic Controller 1, execution control element 2, main working cylinder control valve 3, temperature sensor 4, main working cylinder 5, kicker cylinder 6, moved cross beam 7, displacement transducer 8, main working cylinder pressure sensor 9, kicker cylinder high pressure control valve 10;
Described self-adaptive pre-control method for movable beam position of oversize water press step is as follows:
The first step in first time forging process, is measured in the forging processes moved cross beam position in real time and is calculated the speed of service by displacement transducer 8, measures forging pressures by main working cylinder pressure sensor 9, and temperature sensor 4 is measured forging temperatures; When output stops to pressurize in the closed-loop control of position, promptly control main working cylinder control valve 3 and turn-off sampling moved cross beam position, the speed of service, forging pressure, forging temperature at this moment.
Second step, the moved cross beam position H during sampling beginning pressure release
XCalculate last inertia by Programmable Logic Controller 1 and forge path increment (Δ H
(n-1)), pre-control amount a reference value when this value conduct is forged next time;
The 3rd step is in this forging process, according to the moved cross beam position of measuring, forging pressure, forging temperature; Through operational model
Y (H)=K Δ H
(n-1)------(model 1)
Wherein: Δ H
(n-1)Last inertia forges path increment
K pressure, speed, temperature weighted coefficient
The pre-controlled position inertia lead of y (H)
Calculate pre-controlled position inertia lead (y (H)), again through Engineering Algorithm
Y (h)=k (Δ h
n+ y (H))------(model 2)
Wherein: Δ h
nRepresent that given finish-forging position and traveled distance are poor
K controls main working cylinder control valve 3 output factors
The main working cylinder control valve 3 actual output controlling values of y (h)
Obtain being with when this forges the position closed loop control output quantity of pre-control after the computing, and by carrying out control element 2 main working cylinder control valve 3 openings of sizes of control and closing;
With the last data of these data of forge gathering when forging next time, enter and forge in the operational model data next time.
Debug process only need be regulated suitable the getting final product of parameter of K.
Practice is on the 150MN hydraulic press, and after many kind debugging, the forging measured precision is less than ± 3mm.Effectively reduce forging allowance, reached and saved energy and reduce the cost, reduce cost, improved the purpose of production efficiency.
Claims (1)
1. self-adaptive pre-control method for movable beam position of oversize water press, the control system of described super-huge hydraulic press moved cross beam by Programmable Logic Controller (1), carry out control element (2), main working cylinder control valve (3), temperature sensor (4), main working cylinder (5), kicker cylinder (6), moved cross beam (7), displacement transducer (8), main working cylinder pressure sensor (9), kicker cylinder high pressure control valve (10) and formed; It is characterized in that described self-adaptive pre-control method for movable beam position of oversize water press step is as follows:
The first step in first time forging process, is measured in the forging process moved cross beam position in real time and is calculated the speed of service by displacement transducer (8), measures forging pressure by main working cylinder pressure sensor (9), and temperature sensor (4) is measured forging temperature; When output stops to pressurize in the closed-loop control of position, promptly control main working cylinder control valve (3) and turn-off, sampling moved cross beam position, the speed of service, forging pressure, forging temperature at this moment;
Second step, the moved cross beam position during sampling beginning pressure release; Calculate last inertia by Programmable Logic Controller (1) and forge path increment (Δ H
(n-1)), pre-control amount a reference value when this value conduct is forged next time;
The 3rd step is in this forging process, according to the moved cross beam position of measuring, forging pressure, forging temperature; Through operational model
Y (H)=K Δ H
(n-1)------(model 1)
Wherein: Δ H
(n-1)Last inertia forges path increment
K pressure, speed, temperature weighted coefficient
The pre-controlled position inertia lead of y (H)
Calculate pre-controlled position inertia lead (y (H)), again through Engineering Algorithm
Y (h)=k (Δ h
n+ y (H))------(model 2)
Wherein: Δ h
nRepresent that given finish-forging position and traveled distance are poor
K controls main working cylinder control valve (3) output factor
The actual output of the main working cylinder control valve of y (h) (3) controlling value
Obtain being with when this forges the position closed loop control output quantity of pre-control after the computing, and by carrying out control element (2) main working cylinder control valve (3) openings of sizes of control and closing;
With the last data of these data of forge gathering when forging next time, enter and forge in the operational model data next time.
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| CN2009102196059A CN101704060B (en) | 2009-11-02 | 2009-11-02 | Self-adaptive pre-control method for movable beam position of oversize water press |
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|---|---|---|---|
| CN2009102196059A CN101704060B (en) | 2009-11-02 | 2009-11-02 | Self-adaptive pre-control method for movable beam position of oversize water press |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102248704A (en) * | 2011-06-08 | 2011-11-23 | 天津市天锻压力机有限公司 | Numerical control frame type over travel protective device for main cylinder of hydraulic machine |
| CN102380569A (en) * | 2011-09-20 | 2012-03-21 | 天津市天锻压力机有限公司 | Control method for setting constant speed, constant strain and variable strain process pressing curve |
| CN102430683B (en) * | 2011-10-18 | 2013-11-27 | 佛山市顺德工业与信息技术研究中心有限公司 | Error real time online compensation method for precise servo forging press |
| CN104550602A (en) * | 2014-12-29 | 2015-04-29 | 中国第一重型机械股份公司 | Forged piece size control method based on stand deformation |
| CN105903874B (en) * | 2016-04-25 | 2018-02-09 | 太原科技大学 | A kind of high speed forging hydraulic press forging deformation work(compensating control method |
| CN108213303B (en) * | 2018-01-30 | 2018-11-23 | 二重（德阳）重型装备有限公司 | Drop press stroke compensation method |
| CN115796396B (en) * | 2023-01-16 | 2023-04-18 | 江苏新恒基特种装备股份有限公司 | Method and system for predicting loss of forged material through related parameters |
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