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800MN巨型液压机同步系统精良控制技术研究
Research on Technology of Accuracy Control of Synchronous System in800MN Giant Hydraulic Forging Press
【作者】 周育才；
【导师】 刘少军；
【作者基本信息】 中南大学 ， 机械电子工程， 2012， 博士
【摘要】 800MN巨型液压机的动梁在多点驱动下必须保持同步,同步精度影响锻件成型精度以及压机本体安全。本文结合国家发改委下达的国家重大科研计划,针对该压机的同步系统实现精良控制开展理论和实验相关研究,主要内容为：首先对800MN巨型液压机同步系统进行液压回路进行设计和分析,包括液压缸,比例阀的选择和其它基本参数计算,在此基础上对动梁进行受力分析,得到动梁的力学模型；然后结合阀控缸模型,综合得到同步系统机理模型,为控制策略的研究提供了基础。其次针对同步系统执行器特点在提出了流量均衡分配方法,根据两回路的实际补、排液能力进行流量均衡分配,从而解决了执行器冗余问题,仿真结果表明了该方法对于改善流量跟踪特性和系统响应特性意义显著。接着结合同步系统模型特点和控制要求,选用仿人智能控制方法对平衡系统的补(排)流量进行调节,重点研究同步系统仿人智能控制器实现方法,包括直接控制级模态划分和参数级控制参数快速调整方法,并针对参数摄动及不同类型偏载作用下同步系统的响应特性进行数字仿真,仿真结果表明了该方法的有效性和智能性。然后考虑大面积梁在加载过程中的挠曲作用,利用Marc软件分析了同步系统位置传感器合适的安装位置,提出了摆线轴承与滚轴滑块两种新的连接结构,并与目前国内3万吨水压机的移动滑块结构进行了误差对比分析和振动模态对比分析,新的连接方法在可靠性和检测精度上都有较明显改善。最后利用中南大学自行研制的315吨实验压机进行流量分配方法及仿人智能控制方法的试验验证,试验结果与仿真结果基本接近,表明了800MN巨型压机采用均衡流量分配方法和仿人智能控制策略的有效性。
【Abstract】 Moving beam of The800MN giant hydraulic forging press should be kept synchronous under the multi-driven system, the precision of synchronization affected on the formed accuracy of forging works and satety of the machine. theoretical and experimental research has been done on the synchronous system of the machine in order to realize controlling precisely,and the main research content is listed as follows:Firstly the hydraulic circuit of the synchronous system was initial designed and analyzed in the whole, which include the choice of the main hydraulic components and the caculation of the other basical parameters, and then the mechanical model of beams can be gotten by the mechanical analysis, and then the mechanism model of the synchronous system will be derived from these analysis above combined with the models of the large-flow proportional valve and hydraulic cylinder, which can laid the foundation for control system designing of the synchronous system.Secondly a balanced liquid distribution method was put forward according to the characteristic of the synchronous system,which can uniformly distribute the liquid according the real compensate and leakage ability,and resultly it can solve the redundancy of actuor. The simulation results has shown the method more effective in the characteristic of liquid trace and reponse.Thirdly the appropriate controller was chosen in accordance with the requirement of synchronous system and its mechanical modal, the human-intelligence simulating control method was adopted to regulate the supplementing (draining) capacity of the synchronous system.The paper focuses on the realization of human intelligence simulating controller,which includes how to divide the control mode and how to adjust the control parameters,and then the digital simulations have been done about its reponse characteristic under variable type eccentric load and parameter perturbation. The simulation results has shown its intelligence and availability.And then taking the moving beam deflection into account, the fit installation location of the moving beam position measurement system was analyzed by using Marc software, and two new joining structure with rolling bearing and sliding bearings were put forward, the new structure are more reliable and more accuracy than the joining structure with movable block through constract analysis through analysis of error and vibration modal.Finally experiments about liquid distribution and human intelligence simulating controller have been done on the315T experimental forging press,and the experiments results is near to the simulation results,thus it has shown these two method availability.