80MN钛合金锻造液压机的建模与控制
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摘要
80MN钛合金锻造液压机是我国自行新研制的大型数控等温锻造液压机,它是我国锻造液压机规格、结构和性能的一次创新。特殊的锻造材料和复杂的锻造工艺,对如此大型的数控等温锻造液压机的控制精度提出了非常高的要求。本文的主要研究内容和已取得的研究成果如下:
(1)对80MN钛合金锻造液压机的结构进行了深入的分析,依据系统本身的内在机理,并作合理的假设和简化,分别推导出了液压系统的动态模型、滑块的动态模型以及其它部分的动态模型。通过综合各个部分的动态模型,建立了比较准确的80MN钛合金锻造液压机仿射非线性动态模型。
(2)分析了非线性系统反馈线性化的条件,针对80MN钛合金锻造液压机仿射非线性动态模型的特点,设计了反馈线性化解耦控制器,有效地解决了输出跟踪控制问题。
(3)介绍了模糊控制器的基本结构,对模糊控制器中的模糊化、规则库、模糊推理和解模糊各个组成部分进行了详细的分析。
(4)针对输入—输出线性化存在系统内动态不稳定的问题,在输入—输出线性化控制的基础上,根据80MN钛合金锻造液压机的结构特点,从系统实际物理关系和实验数据出发,采用模糊控制方法设计了监督控制器,保证了系统的内动态在整个输出跟踪过程中都处于一定的范围之内。
(5)针对滑块四角调平存在的同步误差与滑块受力分布之间的矛盾,在反馈线性化解耦控制与模糊监督控制的基础上,根据80MN钛合金锻造液压机的结构特点,从系统实际物理关系和实验数据出发,采用模糊控制方法设计了补偿控制器,进一步提高了系统的同步精度。
(6)应用反馈线性化解耦控制、模糊监督控制和模糊补偿控制相结合的混合控制方法,提出了滑块速度与应变速率控制方案、滑块四角调平控制方案和新型双闭环控制方案,实现了80MN钛合金锻造液压机的滑块速度与应变速率控制、四角调平控制、速度与四角调平的协调控制。
80MN titanium-alloy forging hydraulic press is a large type numerical control isothermal forging hydraulic press manufactured newly by China, and it blazes a new trail in standard, structure and performance of forging hydraulic press in our country. Owing to special forging materiel and complicated forging technology, very high control accuracy is required to such a large type numerical control isothermal forging hydraulic press. Main contents and progresses in this paper are as follows:
(1) The structure of 80MN titanium-alloy forging hydraulic press is analyzed thoroughly. According to internal mechanism of the system, with reasonable hypothesis and simplification, the dynamic models of hydraulic mechanism, slide and other devices are deduced respectively. By means of synthesis to all the dynamic models, a comparatively accurate affine nonlinear dynamic model of 80MN titanium-alloy forging hydraulic press is set up.
(2) The conditions for the feedback linearization of nonlinear system are discussed. Aimed at the characteristics of the affine nonlinear dynamic model of 80MN titanium-alloy forging hydraulic press, a feedback linearization decoupling controller is designed. It solves output tracking control problem validly.
(3) The basic structure of fuzzy controller is introduced. Fuzzifier, fuzzy rule base, fuzzy inference and defuzzifier of fuzzy controller are explored in detail.
(4) To solve the problem about the stability of internal dynamics of the system in the input-output linearization method, according to the characteristics of the structure, the relationship of the physical variables and the experiment data of 80MN titanium-alloy forging hydraulic press, a supervision controller is designed with fuzzy control method and introduced into the input-output linearization controller of 80MN titanium-alloy forging hydraulic press. It can ensure the internal dynamics of the system are controlled within a limited range in the whole process of output tracking.
(5) To resolve the conflict between the synchronization error and the distribution of the force on the slide in the four-corner leveling control of 80MN titanium-alloy forging hydraulic press, according to the characteristics of the structure, the relationship of the physical variables and the experiment data of 80MN titanium-alloy forging hydraulic press, a compensation controller is designed with fuzzy control method based on the feedback linearization decoupling control and the fuzzy supervision control. It can improve the synchronization accuracy of the system further.
(6) Based on the application of the mixed control which is composed of the feedback linearization decoupling control, the fuzzy supervision control and the fuzzy compensation control, a control program of the velocity of the slide and the strain rate of forging parts, a four-corner leveling control program of the slide and a new bi-closed-loop control program are given to realize the control of the velocity of the slide and the strain rate of forging parts, the four-corner leveling control of the slide and the coordination control of the velocity and four-corner leveling of the slide.
(1)对80MN钛合金锻造液压机的结构进行了深入的分析,依据系统本身的内在机理,并作合理的假设和简化,分别推导出了液压系统的动态模型、滑块的动态模型以及其它部分的动态模型。通过综合各个部分的动态模型,建立了比较准确的80MN钛合金锻造液压机仿射非线性动态模型。
(2)分析了非线性系统反馈线性化的条件,针对80MN钛合金锻造液压机仿射非线性动态模型的特点,设计了反馈线性化解耦控制器,有效地解决了输出跟踪控制问题。
(3)介绍了模糊控制器的基本结构,对模糊控制器中的模糊化、规则库、模糊推理和解模糊各个组成部分进行了详细的分析。
(4)针对输入—输出线性化存在系统内动态不稳定的问题,在输入—输出线性化控制的基础上,根据80MN钛合金锻造液压机的结构特点,从系统实际物理关系和实验数据出发,采用模糊控制方法设计了监督控制器,保证了系统的内动态在整个输出跟踪过程中都处于一定的范围之内。
(5)针对滑块四角调平存在的同步误差与滑块受力分布之间的矛盾,在反馈线性化解耦控制与模糊监督控制的基础上,根据80MN钛合金锻造液压机的结构特点,从系统实际物理关系和实验数据出发,采用模糊控制方法设计了补偿控制器,进一步提高了系统的同步精度。
(6)应用反馈线性化解耦控制、模糊监督控制和模糊补偿控制相结合的混合控制方法,提出了滑块速度与应变速率控制方案、滑块四角调平控制方案和新型双闭环控制方案,实现了80MN钛合金锻造液压机的滑块速度与应变速率控制、四角调平控制、速度与四角调平的协调控制。
80MN titanium-alloy forging hydraulic press is a large type numerical control isothermal forging hydraulic press manufactured newly by China, and it blazes a new trail in standard, structure and performance of forging hydraulic press in our country. Owing to special forging materiel and complicated forging technology, very high control accuracy is required to such a large type numerical control isothermal forging hydraulic press. Main contents and progresses in this paper are as follows:
(1) The structure of 80MN titanium-alloy forging hydraulic press is analyzed thoroughly. According to internal mechanism of the system, with reasonable hypothesis and simplification, the dynamic models of hydraulic mechanism, slide and other devices are deduced respectively. By means of synthesis to all the dynamic models, a comparatively accurate affine nonlinear dynamic model of 80MN titanium-alloy forging hydraulic press is set up.
(2) The conditions for the feedback linearization of nonlinear system are discussed. Aimed at the characteristics of the affine nonlinear dynamic model of 80MN titanium-alloy forging hydraulic press, a feedback linearization decoupling controller is designed. It solves output tracking control problem validly.
(3) The basic structure of fuzzy controller is introduced. Fuzzifier, fuzzy rule base, fuzzy inference and defuzzifier of fuzzy controller are explored in detail.
(4) To solve the problem about the stability of internal dynamics of the system in the input-output linearization method, according to the characteristics of the structure, the relationship of the physical variables and the experiment data of 80MN titanium-alloy forging hydraulic press, a supervision controller is designed with fuzzy control method and introduced into the input-output linearization controller of 80MN titanium-alloy forging hydraulic press. It can ensure the internal dynamics of the system are controlled within a limited range in the whole process of output tracking.
(5) To resolve the conflict between the synchronization error and the distribution of the force on the slide in the four-corner leveling control of 80MN titanium-alloy forging hydraulic press, according to the characteristics of the structure, the relationship of the physical variables and the experiment data of 80MN titanium-alloy forging hydraulic press, a compensation controller is designed with fuzzy control method based on the feedback linearization decoupling control and the fuzzy supervision control. It can improve the synchronization accuracy of the system further.
(6) Based on the application of the mixed control which is composed of the feedback linearization decoupling control, the fuzzy supervision control and the fuzzy compensation control, a control program of the velocity of the slide and the strain rate of forging parts, a four-corner leveling control program of the slide and a new bi-closed-loop control program are given to realize the control of the velocity of the slide and the strain rate of forging parts, the four-corner leveling control of the slide and the coordination control of the velocity and four-corner leveling of the slide.
引文
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