预弯机位置速度双闭环同步控制
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摘要
针对预弯机电液比例控制系统的高同步精度和速度控制要求,考虑到负载力对速度稳定和位置精度的影响,提出基于单轴带负载力补偿的位置速度双闭环控制的四轴同步控制策略。针对单轴同时控制位置和速度特点采用外环位置控制、内环速度控制的双闭环控制方法;对于四轴同步,采用两组主从同步、两组主轴之间均值同步的混合同步控制方式。仿真结果表明:该控制策略实现了较高的同步精度和速度误差,同步控制精度可达到0.24 mm,速度跟踪误差控制在2.2 mm/s以内,完全满足预弯机生产过程的控制要求。
Considering the influence of load force on speed stability and position accuracy,a four axis synchronous control strategy of position and speed double-closed-loop control based on single-axis with load force compensation was proposed for the high precision and speed control requirements of the electro-hydraulic proportional control system of pre-bending machine.For the single axis simultaneous control position and speed characteristics,a double closed loop control method with the outer loop position control and the inner loop speed control were adopted;for the four-axis synchronization,two groups of master-slave synchronization and the synchronous control method of mean synchronization between the two groups of spindles was adopted.The simulation results show that using the control strategy,higher synchronization accuracy and less speed error are achieved,the synchronization control accuracy can reach 0.24 mm,the speed tracking error is less than 2.2 mm/s,which fully meet the control requirements of the pre-bending machine production process.
Considering the influence of load force on speed stability and position accuracy,a four axis synchronous control strategy of position and speed double-closed-loop control based on single-axis with load force compensation was proposed for the high precision and speed control requirements of the electro-hydraulic proportional control system of pre-bending machine.For the single axis simultaneous control position and speed characteristics,a double closed loop control method with the outer loop position control and the inner loop speed control were adopted;for the four-axis synchronization,two groups of master-slave synchronization and the synchronous control method of mean synchronization between the two groups of spindles was adopted.The simulation results show that using the control strategy,higher synchronization accuracy and less speed error are achieved,the synchronization control accuracy can reach 0.24 mm,the speed tracking error is less than 2.2 mm/s,which fully meet the control requirements of the pre-bending machine production process.
引文
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[5] 王昕煜,赵静一,徐丽杰,等.桥梁同步顶升模糊解耦控制策略研究[J].中国工程机械学报,2015,13(4):347-352.WANG X Y,ZHAO J Y,XU L J,et al.Fuzzy Decoupling Control Strategy for Synchronous Bridge Lifting[J].Chinese Journal of Construction Machinery,2015,13(4):347-352.
[6] 邓飙,苏文斌,郭秦阳,等.双缸电液位置伺服同步控制系统的智能控制[J].西安交通大学学报,2011,45(11):85-70.DENG B,SU W B,GUO Q Y,et al.Intelligent Control for Electro-hydraulic Position Servo Synchronic Control System with Double Cylinders[J].Journal of Xi’an Jiaotong University,2011,45(11):85-70
[7] 柏艳红,权龙.电液位置速度复合伺服系统控制策略[J].机械工程学报,2010,46(24):150-155.BAI Y H,QUAN L.Control Strategy of the Electro-hydraulic Position and Speed Hybrid Servo System[J].Journal of Mechanical Engineering,2010,46(24):150-155.
[8] HNC100 Functions and Hardware Connections[M].Rexroth Bosch Group,2012.
[9] 彭小光.电液变增益闭环同步控制算法研究与分析[D].武汉:武汉科技大学,2014.
[10] 张飞,童朝南,彭开香,等.液压位置控制系统的自适应补偿[J].机械工程学报,2005,41(5):94-97.ZHANG F,TONG C N,PENG K X,et al.Adaptation Compensation of Hydraulic Servo Control System[J].Journal of Mechanical Engineering,2005,41(5):94-97.
[11] 孟亚东,李长春,张金英,等.阀控非对称缸液压系统建模研究[J].北京交通大学学报,2009,33(1):66-70.MENG Y D,LI C C,ZHANG J Y,et al.Study on Modeling of Valve-controlled Asymmetrical Cylinder Hydraulic System[J].Journal of Beijing Jiaotong University,2009,33(1):66-70.