CN115291510B - Intelligent leveling control method and system for hydraulic forging press - Google Patents
Intelligent leveling control method and system for hydraulic forging press Download PDFInfo
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Abstract
The invention discloses an intelligent leveling control method and system of a hydraulic forging press, which belong to the technical field of hydraulic forging press control, and comprise a parameter acquisition module, a pre-charging pressure module and a stamping module, wherein before pressing work, a servo controller adopts closed-loop control pre-charging pressure controlled by feedforward, and a given value of a proportional pump and an opening value of a proportional overflow valve are calculated and output, so that the pre-charging pressure of eight leveling cylinders is the same; starting pressing operation, adjusting a main cylinder according to a set working speed to enable the sliding block to descend, and calculating target positions of four corners of the sliding block: calculating an output value of the corresponding proportional cartridge valve according to the target position of each angle and the real-time position of each angle; dividing the weight coefficient into three levels according to the magnitude of the position deviation value; and calculating the output value of the proportional cartridge valve at the current moment under different levels. The invention adopts feedforward control to control the pre-stamping force in a closed loop manner, and adopts a fuzzy control method to realize the leveling of four corners of a couple of forces, thereby realizing the forming process control of a large-scale integrated forging.
Description
Technical Field
The invention belongs to the technical field of hydraulic forging press control, and particularly relates to an intelligent leveling control method and system for a hydraulic forging press.
Background
In recent years, the fields of aerospace and the like in China rapidly develop, and the demands of hydraulic forging presses are continuously increased along with the increase of various required forgings. In the past, large forgings are integrally formed, and the performance improvement effect on aircrafts such as airplanes is quite obvious. The large integral forging is large in general projection area and asymmetric in appearance, and higher requirements are set for a leveling system of the hydraulic forging press, so that it is very important to design a hydraulic forging press leveling method and system suitable for irregular large integral forgings.
Disclosure of Invention
The invention provides an intelligent leveling control method and system for a forging hydraulic press, which aims to solve the technical problems in the prior art, adopts a closed-loop control pre-stamping force of feedforward control, adopts a fuzzy control method to realize leveling of four corners of a couple, and further realizes forming process control of a large-scale integral forging.
A first object of the present invention is to provide an intelligent leveling control system for a hydraulic forging press, comprising:
a parameter acquisition module, wherein the parameters comprise: the positions h1, h2, h3 and h4 of the four corners of the slide block are set to the working speed v 0 The initial pressing height H of the sliding block, the pressing time t and the pressing coefficient theta;
the pre-charging pressure module is used for calculating and outputting a given value of the proportional pump and an opening value of the proportional overflow valve by adopting closed-loop control pre-charging pressure controlled by feedforward before pressing, so that the pre-charging pressures of the eight leveling cylinders are the same;
stamping module, the pressing work begins, according to setting up working speed v 0 The main cylinder is adjusted to enable the sliding block to descend, and the target positions h of four corners of the sliding block are calculated 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain the output value of the corresponding proportional cartridge valve;
according to the position deviation valueDividing the weight coefficient alpha into three levels of larger, medium and smaller;
when the deviation isWhen larger (deviation value/target position. Gtoreq.20%) alpha is larger (deviation +.>Greater weight) to enhance the corresponding trend to improve the rapidity of the system, the formula is as follows:
when the deviation isWhen the ratio is moderate (deviation value/target position) < 20%), the ratio is alpha moderate (deviation +.>Weight medium), and add->To reduce overshoot of the system:
when the deviation isWhen smaller (deviation value/target position < 5%), α is smaller (deviation variation +.>Weight is larger), and add ∈>Avoiding overshoot and entering system steady state as soon as possible:
wherein: i= {1,2,3,4} corresponds to four angles,outputting a value of +.>Output value of proportional cartridge valve for last moment,/, for>For the position deviation value, +>For position deviation change, +.>Deviation from the starting time to the time t>Alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according toAnd->And calculating the real-time alpha value by the real-time value and the fuzzy control rule.
Preferably, the hydraulic forging press comprises a rectangular slide block, a leveling cylinder, four proportional cartridge valves, four proportional overflow valves, a proportional pump and a servo controller; the number of the leveling cylinders is eight, and four angles of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are diagonal angles; leveling cylinders on the upper side and the lower side of the angle A are sequentially named as a1 and c2; leveling cylinders on the upper side and the lower side of the angle B are sequentially named as B1 and d2; leveling cylinders on the upper side and the lower side of the angle C are sequentially named as C1 and a2; leveling cylinders on the upper side and the lower side of the angle D are sequentially named as D1 and b2; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge valve is connected to d1 and d 2.
The second object of the invention is to provide an intelligent leveling control method of a hydraulic forging press, comprising the following steps:
acquiring parameters, wherein the parameters comprise: the positions h1, h2, h3 and h4 of the four corners of the slide block are set to the working speed v 0 The initial pressing height H of the sliding block, the pressing time t and the pressing coefficient theta;
before pressing, the servo controller adopts closed-loop control pre-charging pressure controlled by feedforward control to calculate and output a given value of the proportional pump and an opening value of the proportional overflow valve, so that the pre-charging pressure of the eight leveling cylinders is the same;
a pressing operation is started according to a set operation speed v 0 The main cylinder is adjusted to enable the sliding block to descend, and the target positions h of four corners of the sliding block are calculated 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain the output value of the corresponding proportional cartridge valve;
according to the position deviation valueDividing the weight coefficient alpha into three levels of larger, medium and smaller;
when the position deviation value deviatesWhen the deviation value is larger (the target position is more than or equal to 20%), the output value of the proportional cartridge valve at the current moment is +.>The method comprises the following steps:
when the position deviation value deviatesWhen the ratio is medium (the deviation value is less than or equal to 5 percent and less than 20 percent)Example Cartridge valve output value->The method comprises the following steps:
when the position deviation value deviatesWhen the deviation value is smaller (deviation value/target position is less than 5%), the output value of the proportional cartridge valve at the current moment is +.>The method comprises the following steps:
wherein: i= {1,2,3,4} corresponds to four angles,outputting a value of +.>Output value of proportional cartridge valve for last moment,/, for>For the position deviation value, +>For position deviation change, +.>Deviation from the starting time to the time t>Is aAs weight coefficients, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according toAnd->And calculating the real-time alpha value by the real-time value and the fuzzy control rule.
Preferably, the hydraulic forging press comprises a rectangular slide block, a leveling cylinder, four proportional cartridge valves, four proportional overflow valves, a proportional pump and a servo controller; the number of the leveling cylinders is eight, and four angles of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are diagonal angles; leveling cylinders on the upper side and the lower side of the angle A are sequentially named as a1 and c2; leveling cylinders on the upper side and the lower side of the angle B are sequentially named as B1 and d2; leveling cylinders on the upper side and the lower side of the angle C are sequentially named as C1 and a2; leveling cylinders on the upper side and the lower side of the angle D are sequentially named as D1 and b2; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge valve is connected to d1 and d 2.
The invention has the advantages and positive effects that:
1. the invention adopts a fuzzy control method to control in different stages, when the deviation is larger, the weight of the deviation is larger, thereby enhancing the corresponding trend and improving the rapidity of the system; when the deviation is medium, the weight of the deviation change is increased, and the derivative of the deviation change is added to reduce the overshoot of the system; when the deviation is smaller, the deviation change weight is larger, the added historical integral term is increased, overshoot is avoided, and the system steady state is entered as soon as possible.
2. The invention adopts the closed loop control of feedforward control to precharge pressure into the leveling cylinder, and can improve the response speed of the system.
3. The invention adopts a couple leveling mode, and can ensure that the sum of the leveling cylinder pressures born by the upper plane of the sliding block is equal to the sum of the leveling cylinder pressures born by the lower plane, thereby not affecting the pressure exerted by the sliding block on a workpiece.
Drawings
FIG. 1 is a schematic diagram of a couple leveling model of a preferred embodiment of the present invention;
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
the following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. Based on the technical solutions of the present invention, all other embodiments obtained by a person skilled in the art without making any creative effort fall within the protection scope of the present invention.
Please refer to fig. 1.
An intelligent leveling control system for a hydraulic forging press, wherein the hydraulic forging press comprises:
and the servo controller is used for acquiring the data of the position sensor, outputting the flow of the proportional pump, and outputting the opening value of the proportional cartridge valve and the opening value of the proportional overflow valve.
And the position sensors are used for collecting position data of each angle of the sliding block, wherein the number of the position sensors is 4, and the number of the position sensors is 1 for each angle of the sliding block.
The proportional cartridge valves are used for supplying oil to the leveling cylinders so as to adjust the positions of the leveling cylinders, and the total number of the proportional cartridge valves is 4.
And the proportional overflow valves are used for pre-charging the leveling cylinders, and the total number of the proportional overflow valves is 4.
And the proportional pump is used for providing 1 oil source of the proportional servo valve and the proportional overflow valve.
The intelligent leveling control system adopts 8 leveling cylinders to cooperatively work so as to keep the balance of the sliding block, as shown in a schematic diagram of a couple leveling model in fig. 1. 8 identical plunger cylinders are used as leveling cylinders, and the rated pressures of the 8 cylinders are identical. The distance from the center of each cylinder to the horizontal center line of the sliding block is equal, and the distance from the center line of the sliding block to the front and back center lines of the sliding block is also equal. Wherein the plunger cavities of the two leveling cylinders a1 and a2 are communicated through a pipeline, the plunger cavities of the two leveling cylinders b1 and b2 are communicated through a pipeline, the plunger cavities of the two leveling cylinders c1 and c2 are communicated through a pipeline, and the plunger cavities of the two leveling cylinders d1 and d2 are communicated through a pipeline. The couple leveling mode can ensure that the sum of leveling cylinder pressures born by the upper plane of the sliding block is equal to the sum of leveling cylinder pressures born by the lower plane, so that the pressure exerted by the sliding block on a workpiece is not influenced. From A, B, C and the angle D, when the unbalanced load approaches the angle D, the pressure of the D1 leveling cylinder is increased, and the pressure of the b2 leveling cylinder is reduced, so that the angle D moves relatively downwards; meanwhile, the pressure of the d2 leveling cylinder is increased, and the pressure of the B1 leveling cylinder is reduced, so that the angle B moves relatively upwards; the other two angles are correspondingly adjusted according to the respective space vector components. The principle of unbalanced load approaching other angles and the motion situation are the same.
And the parameter acquisition module is used for defining the positions of four angles A, B, C and D as h1, h2, h3 and h4 respectively. Setting the working speed to v 0 . The initial pressing height of the sliding block is H, the pressing time is t, and the pressing coefficient is theta.
And before the pressing work of the hydraulic forging press, the servo controller adopts closed-loop control of feedforward control to pre-charge the pressure, calculates and outputs a given value of the proportional pump and an opening value of the proportional overflow valve, so that the pre-charge pressure in the 8 leveling cylinders is equal to the same pressure (10-15 MPa). And a certain pressure is pre-filled in the leveling cylinder, so that the response speed of the system can be improved.
Stamping module, according to the speed v of setting in the forging hydraulic press pressing work 0 The main cylinder is adjusted to enable the sliding block to descend, and the control system calculates target positions h of four corners of the sliding block 0 ：
h 0 ＝H-v 0 t+θ
The output value of the proportional cartridge valve YTA is based on the real-time target position h by taking the proportional pump as a power source 0 And calculating the real-time position h1 of the angle A; the output value of the proportional cartridge valve YTB is based on the real-time target position h 0 And calculating the real-time position h2 of the angle B; the output value of the proportional cartridge valve YTC is based on the real-time target position h 0 And the real-time position h3 of the angle C is calculated; the output value of the proportional cartridge valve YTD is based on the real-time target position h 0 And the real-time position h4 of the angle D.
Setting the working speed v 0 The range is 0.1-20mm/s, so that the position change range in unit time is larger, and the proportional cartridge valve output value cannot be calculated by adopting the same formula and the same parameter.
When the deviation isWhen larger (deviation value/target position. Gtoreq.20%) alpha is larger (deviation +.>Greater weight) to enhance the corresponding trend to improve the rapidity of the system, the formula is as follows:
when the deviation isWhen the ratio is moderate (deviation value/target position) < 20%), the ratio is alpha moderate (deviation +.>Weight medium), and add->To reduce overshoot of the system:
when the deviation isWhen smaller (deviation value/target position < 5%), α is smaller (deviation variation +.>Weight is larger), and add ∈>Avoiding overshoot and entering system steady state as soon as possible:
i= {1,2,3,4} corresponds to A, B, C and D four angles,outputting a value of +.>Output value of proportional cartridge valve for last moment,/, for>For the position deviation value, +>For position deviation change, +.>Deviation from the starting time to the time t>Alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient.
According toAnd->The real-time alpha value can be calculated by the real-time value and the fuzzy control rule, when the acquisition deviation value +.>And deviation variation value->The rear controller determining the value of alpha, i.eWherein X is k ，Y k ，Z k For the linguistic values on the corresponding domains, the linguistic variables are: negative large (NB), negative Small (NS), zero (ZO), positive Small (PS), positive large (PB).
An intelligent leveling control method of a hydraulic forging press, wherein the hydraulic forging press comprises:
and the servo controller is used for acquiring the data of the position sensor, outputting the flow of the proportional pump, and outputting the opening value of the proportional cartridge valve and the opening value of the proportional overflow valve.
And the position sensors are used for collecting position data of each angle of the sliding block, wherein the number of the position sensors is 4, and the number of the position sensors is 1 for each angle of the sliding block.
The proportional cartridge valves are used for supplying oil to the leveling cylinders so as to adjust the positions of the leveling cylinders, and the total number of the proportional cartridge valves is 4.
And the proportional overflow valves are used for pre-charging the leveling cylinders, and the total number of the proportional overflow valves is 4.
And the proportional pump is used for providing 1 oil source of the proportional servo valve and the proportional overflow valve.
The intelligent leveling control system adopts 8 leveling cylinders to cooperatively work so as to keep the balance of the sliding block, as shown in a schematic diagram of a couple leveling model in fig. 1. 8 identical plunger cylinders are used as leveling cylinders, and the rated pressures of the 8 cylinders are identical. The distance from the center of each cylinder to the horizontal center line of the sliding block is equal, and the distance from the center line of the sliding block to the front and back center lines of the sliding block is also equal. Wherein the plunger cavities of the two leveling cylinders a1 and a2 are communicated through a pipeline, the plunger cavities of the two leveling cylinders b1 and b2 are communicated through a pipeline, the plunger cavities of the two leveling cylinders c1 and c2 are communicated through a pipeline, and the plunger cavities of the two leveling cylinders d1 and d2 are communicated through a pipeline. The couple leveling mode can ensure that the sum of leveling cylinder pressures born by the upper plane of the sliding block is equal to the sum of leveling cylinder pressures born by the lower plane, so that the pressure exerted by the sliding block on a workpiece is not influenced. From A, B, C and the angle D, when the unbalanced load approaches the angle D, the pressure of the D1 leveling cylinder is increased, and the pressure of the b2 leveling cylinder is reduced, so that the angle D moves relatively downwards; meanwhile, the pressure of the d2 leveling cylinder is increased, and the pressure of the B1 leveling cylinder is reduced, so that the angle B moves relatively upwards; the other two angles are correspondingly adjusted according to the respective space vector components. The principle of unbalanced load approaching other angles and the motion situation are the same.
The positions of the four angles of the definition A, B, C and the D are h1, h2, h3 and h4 respectively. Setting the working speed to v 0 . The initial height of the sliding block of the workpiece is H, the pressing time is t, and the pressurizing coefficient is theta.
Before the pressing work of the hydraulic forging press, the servo controller adopts closed-loop control of feedforward control to pre-charge the pressure, calculates and outputs a given value of the proportional pump and an opening value of the proportional overflow valve, so that the pre-charge pressure in the 8 leveling cylinders is equal to the same pressure (10-15 MPa). And a certain pressure is pre-filled in the leveling cylinder, so that the response speed of the system can be improved.
According to the set speed v in the pressing work of the stamping work and the forging hydraulic press 0 The main cylinder is adjusted to enable the sliding block to descend, and the control system calculates target positions h of four corners of the sliding block 0 ：
h 0 ＝H-v 0 t+θ
The output value of the proportional cartridge valve YTA is based on the real-time target position h by taking the proportional pump as a power source 0 And calculating the real-time position h1 of the angle A; the output value of the proportional cartridge valve YTB is based on the real-time target position h 0 And calculating the real-time position h2 of the angle B; the output value of the proportional cartridge valve YTC is based on the real-time target position h 0 And the real-time position h3 of the angle C is calculated; the output value of the proportional cartridge valve YTD is based on the real-time target position h 0 And the real-time position h4 of the angle D.
Setting the working speed v 0 The range is 0.1-20mm/s, so that the position change range in unit time is larger, and the proportional cartridge valve output value cannot be calculated by adopting the same formula and the same parameter.
When the deviation isWhen larger (deviation value/target position. Gtoreq.20%) alpha is larger (deviation +.>Greater weight) to enhance the corresponding trend to improve the rapidity of the system, the formula is as follows:
when the deviation isWhen the ratio is moderate (deviation value/target position) < 20%), the ratio is alpha moderate (deviation +.>Weight medium), and add->To reduce overshoot of the system:
when the deviation isWhen smaller (deviation value/target position < 5%), α is smaller (deviation variation +.>Weight is larger), and add ∈>Avoiding overshoot and entering system steady state as soon as possible:
i= {1,2,3,4} corresponds to A, B, C and D four angles,outputting a value of +.>Output value of proportional cartridge valve for last moment,/, for>For the position deviation value, +>For position deviation change, +.>Deviation from the starting time to the time t>Alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient.
According toAnd->The real-time alpha value can be calculated by the real-time value and the fuzzy control rule, when the acquisition deviation value +.>And deviation variation value->The rear controller determines the value of alpha, i.e. +.>Wherein X is k ，Y k ，Z k For the linguistic values on the corresponding domains, the linguistic variables are: negative large (NB), negative Small (NS), zero (ZO), positive Small (PS), positive large (PB).
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the invention in any way, but any simple modification, equivalent variation and modification of the above embodiments according to the technical principles of the present invention are within the scope of the technical solutions of the present invention.
Claims (10)
1. An intelligent leveling control system for a hydraulic forging press, comprising:
a parameter acquisition module, wherein the parameters comprise: the positions h1, h2, h3 and h4 of the four corners of the slide block are set to the working speed v 0 The initial height H of the sliding block, the pressing time t and the pressurizing coefficient theta;
the pre-charging pressure module is used for calculating and outputting a given value of the proportional pump and an opening value of the proportional overflow valve by adopting closed-loop control pre-charging pressure controlled by feedforward before pressing, so that the pre-charging pressures of the eight leveling cylinders are the same;
stamping module, the pressing work begins, according to setting up working speed v 0 The main cylinder is adjusted to enable the sliding block to descend, and the target positions h of four corners of the sliding block are calculated 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain the output value of the corresponding proportional cartridge valve;
according to the position deviation valueDividing the weight coefficient alpha into three levels of larger, medium and smaller;
when the deviation isAt not less than 20%, the formula is as follows:
when the deviation isAt not less than 5% and less than 20%, the formula is as follows:
when the deviation isLess than 5%, the formula is as follows:
wherein: i= {1,2,3,4} corresponds to four angles,outputting a value of +.>Output value of proportional cartridge valve for last moment,/, for>For the position deviation value, +>For position deviation change, alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according toAnd->And calculating the real-time alpha value by the real-time value and the fuzzy control rule.
2. The intelligent leveling control system of a hydraulic forging press according to claim 1, wherein the hydraulic forging press comprises a rectangular slide block, a leveling cylinder, four proportional cartridge valves, four proportional overflow valves, a proportional pump and a servo controller; the number of the leveling cylinders is eight, and four angles of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are diagonal angles; leveling cylinders on the upper side and the lower side of the angle A are sequentially named as a1 and c2; leveling cylinders on the upper side and the lower side of the angle B are sequentially named as B1 and d2; leveling cylinders on the upper side and the lower side of the angle C are sequentially named as C1 and a2; leveling cylinders on the upper side and the lower side of the angle D are sequentially named as D1 and b2; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge valve is connected to d1 and d 2.
3. The intelligent leveling control system of a hydraulic forging press according to claim 2, wherein the parameter acquisition module includes four position sensors for acquiring four angular position data of the slide.
4. The intelligent leveling control system of a hydraulic forging press according to claim 2, wherein the fuzzy control rule is: when collecting the deviation valueAnd deviation variation value->The rear controller determines the value of alpha, i.e. +.> then{α＝Z k K=1, 2 … …, where X k ，Y k ，Z k For the linguistic values on the corresponding domains, the linguistic variables are: negative large (NB), negative Small (NS), zero (Z0), positive Small (PS), positive large (PB).
5. An intelligent leveling control system for a hydraulic forging press according to claim 2, wherein the operating speed v is set 0 The range of (2) is 0.1-20mm/s, and the range of the pre-charging pressure is 10-15 MPa.
6. An intelligent leveling control method for a hydraulic forging press is characterized by comprising the following steps:
acquiring parameters, wherein the parameters comprise: the positions h1, h2, h3 and h4 of the four corners of the slide block are set to the working speed v 0 The initial height H of the sliding block, the pressing time t and the pressurizing coefficient theta;
before pressing, the servo controller adopts closed-loop control pre-charging pressure controlled by feedforward control to calculate and output a given value of the proportional pump and an opening value of the proportional overflow valve, so that the pre-charging pressure of the eight leveling cylinders is the same;
a pressing operation is started according to a set operation speed v 0 The main cylinder is adjusted to enable the sliding block to descend, and the target positions h of four corners of the sliding block are calculated 0 ：h 0 ＝H-v 0 t+θ；
According to the target position h of each corner 0 Calculating the real-time position h1 of each angle to obtain the output value of the corresponding proportional cartridge valve;
according to the position deviation valueDividing the weight coefficient alpha into three levels of larger, medium and smaller;
when the deviation isAt not less than 20%, the formula is as follows:
when the deviation isAt not less than 5% and less than 20%, the formula is as follows:
when the deviation isLess than 5%, the formula is as follows:
wherein: i= {1,2,3,4} corresponds to four angles,outputting a value of +.>Output value of proportional cartridge valve for last moment,/, for>For the position deviation value, +>For position deviation change, alpha is a weight coefficient, K1 is a fuzzy term coefficient, K2 is a trend coefficient, and K3 is a history coefficient;
according toAnd->And calculating the real-time alpha value by the real-time value and the fuzzy control rule.
7. The intelligent leveling control method of a hydraulic forging press according to claim 6, wherein the hydraulic forging press comprises a rectangular slide block, a leveling cylinder, four proportional cartridge valves, four proportional overflow valves, a proportional pump and a servo controller; the number of the leveling cylinders is eight, and four angles of the sliding block are named as an angle A, an angle B, an angle C and an angle D; the angle A and the angle C are diagonal angles; leveling cylinders on the upper side and the lower side of the angle A are sequentially named as a1 and c2; leveling cylinders on the upper side and the lower side of the angle B are sequentially named as B1 and d2; leveling cylinders on the upper side and the lower side of the angle C are sequentially named as C1 and a2; leveling cylinders on the upper side and the lower side of the angle D are sequentially named as D1 and b2; the first proportional cartridge valve is connected with a1 and a2; the second proportional cartridge valve is connected with b1 and b2; the third proportional cartridge valve is connected with c1 and c2; the fourth proportional cartridge valve is connected to d1 and d 2.
8. The intelligent leveling control method for a hydraulic forging press according to claim 7, wherein the parameter acquisition module includes four position sensors for acquiring four angular position data of the slide.
9. The intelligent leveling control method of a hydraulic forging press according to claim 7, wherein the fuzzy control rule is: when collecting the deviation valueAnd deviation variation value->The rear controller determines the value of alpha, i.e. +.> then{α＝Z k K=1, 2 … …, where X k ，Y k ，Z k For the linguistic values on the corresponding domains, the linguistic variables are: negative large (NB), negative Small (NS), zero (ZO), positive Small (PS), positive large (PB).
10. The intelligent leveling control method for a hydraulic forging press according to claim 7, wherein the operating speed v is set 0 The range of (2) is 0.1-20mm/s, and the range of the pre-charging pressure is 10-15 MPa.
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| CN202210759045.1A CN115291510B (en) | 2022-06-29 | 2022-06-29 | Intelligent leveling control method and system for hydraulic forging press |
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