600kN/1500kN·m锻造操作机控制系统研究
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摘要
锻造操作机是锻造机组的重要组成部分,具有响应快速,控制精度高等特点,而且容易实现计算机自动化控制。本文针对600kN/1500kN?m锻造操作机控制系统的特点,采用基于模糊自整定PID算法的PLC系统,实现锻造操作机的大车行走和夹钳旋转等动作的自动化控制,并通过MATLAB/Simulink和AMESim联合仿真技术对锻造操作机的控制系统进行建模和仿真。
基于锻造操作机控制系统非线性的特点,本文提出一种采用模糊自整定PID算法的控制系统。利用MATLAB/Simulink强大的运算能力和AMESim完善的模型库,通过联合仿真技术,建立了锻造操作机控制系统的仿真模型。分别采用普通PID算法和模糊自整定PID算法,在不同负载情况下对比操作机自动控制的精度和响应速度。仿真结果表明,采用模糊自整定PID算法的控制系统鲁棒性更好,控制精度更高。
结合锻造操作机的控制特性和用户的生产需求,采用工控机,西门子PLC控制器和触摸屏监视器组成操作机的控制系统,可实现操作机的手动控制,自动控制以及和压机的联动控制。操作机大车最高运行速度达800mm/s,精度±5mm;夹钳旋转速度最快15r/min,精度±1°。控制系统采用Step7编写,通过存储器间接寻址的方式,在PLC上实现基于模糊自整定PID算法的自动控制,有效的提高了操作机的控制精度和响应速度。
Forging manipulator, which is an important part of the forging unit, is easy to carry out in computer automation system with fast response and high precision control. In this paper, for the characteristics of forging manipulator control system, an automation control system on manipulator movement and clamp rotation of the forging manipulator is accomplished by siemens PLC system, based on fuzzy self-tuning PID algorithm. Meanwhile, it's modeled and simulated on the control system of forging manipulator by MATLAB/Simulink and AMESim co-simulation technology.
For the nonlinear characteristics of forging manipulator control system, it is proposed a control system that based on fuzzy self-tuning PID algorithm. By the powerful computing capability of MATLAB/Simulink and perfect model library of AMESim, a simulation model of the forging manipulator control system is established through co-simulation technology. Compare the control precision and the response speed of forging manipulator control system under different load conditions, by ordinary PID algorithm and fuzzy self-tuning PID algorithm. Simulation results show that the control system by fuzzy self-tuning PID control algorithm has better robustness and control precision.
With the characteristics of forging manipulator control system and the production needs of users, the forging manipulator control system is composed by IPC, Siemens PLC controller and touch screen monitor to achieve manual control, automation control and linkage control with press. The maximum operation speed of the manipulator cart is 800mm/s and the accuracy of the movement is±5mm; the maximum rotation speed of the manipulator clamp is 15r/min and the accuracy is±1°. The automation control system based on fuzzy self-tuning PID algorithm is coded by memory indirect addressing way on PLC. It is an effective way to improve the control accuracy and response speed of the forging manipulator.
基于锻造操作机控制系统非线性的特点,本文提出一种采用模糊自整定PID算法的控制系统。利用MATLAB/Simulink强大的运算能力和AMESim完善的模型库,通过联合仿真技术,建立了锻造操作机控制系统的仿真模型。分别采用普通PID算法和模糊自整定PID算法,在不同负载情况下对比操作机自动控制的精度和响应速度。仿真结果表明,采用模糊自整定PID算法的控制系统鲁棒性更好,控制精度更高。
结合锻造操作机的控制特性和用户的生产需求,采用工控机,西门子PLC控制器和触摸屏监视器组成操作机的控制系统,可实现操作机的手动控制,自动控制以及和压机的联动控制。操作机大车最高运行速度达800mm/s,精度±5mm;夹钳旋转速度最快15r/min,精度±1°。控制系统采用Step7编写,通过存储器间接寻址的方式,在PLC上实现基于模糊自整定PID算法的自动控制,有效的提高了操作机的控制精度和响应速度。
Forging manipulator, which is an important part of the forging unit, is easy to carry out in computer automation system with fast response and high precision control. In this paper, for the characteristics of forging manipulator control system, an automation control system on manipulator movement and clamp rotation of the forging manipulator is accomplished by siemens PLC system, based on fuzzy self-tuning PID algorithm. Meanwhile, it's modeled and simulated on the control system of forging manipulator by MATLAB/Simulink and AMESim co-simulation technology.
For the nonlinear characteristics of forging manipulator control system, it is proposed a control system that based on fuzzy self-tuning PID algorithm. By the powerful computing capability of MATLAB/Simulink and perfect model library of AMESim, a simulation model of the forging manipulator control system is established through co-simulation technology. Compare the control precision and the response speed of forging manipulator control system under different load conditions, by ordinary PID algorithm and fuzzy self-tuning PID algorithm. Simulation results show that the control system by fuzzy self-tuning PID control algorithm has better robustness and control precision.
With the characteristics of forging manipulator control system and the production needs of users, the forging manipulator control system is composed by IPC, Siemens PLC controller and touch screen monitor to achieve manual control, automation control and linkage control with press. The maximum operation speed of the manipulator cart is 800mm/s and the accuracy of the movement is±5mm; the maximum rotation speed of the manipulator clamp is 15r/min and the accuracy is±1°. The automation control system based on fuzzy self-tuning PID algorithm is coded by memory indirect addressing way on PLC. It is an effective way to improve the control accuracy and response speed of the forging manipulator.
引文
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[2]郭会光,田继红.大型锻造的质量控制和研究方略[J].大型铸锻件,2007,2:45-46.
[3]王凤喜.锻造操作机技术近期的发展[J].重型机械,1994,6:12-17.
[4]王凤喜.大锻件生产行业与锻造技术发展[J].锻压机械,2002,4:3-6.
[5]聂绍珉.现代大中型锻造液压机的特点及发展趋势(上)[J].金属加工(热加工),2008,23:20-23.
[6]聂绍珉.现代大中型锻造液压机的特点及发展趋势(下)[J].金属加工(热加工),2009,1:40-42.
[7]梁音,赵绪平,王驰,秦剑,杨全国.大型锻造操作机研究发展[J].科技成果纵横,2010,2:55-57.
[8]孝桥要二,杨尽臣.日本新建以8000吨锻造液压机为核心设备的大型铸锻件厂[J].重型机械,1977,6:55-65.
[9]李结.锻造操作机的发展近况[J].锻压装备与制造技术.1978,3:17-22.
[10]梁音,赵绪平,王驰,秦剑,杨全国.大型锻造操作机研究进展[J].科技成果纵横,2010,2:55-57.
[11]吴根茂,邱敏秀,王庆丰,魏建华,孔晓武,付新等.新编实用电液比例技术[M].浙江:浙江大学出版社,2006,9:3-5.
[12]傅新,徐明,王伟,邹俊,杨华勇.锻造操作机液压系统设计与仿真[J].机械工程学报,2010,46(11):49-54.
[13]余发国,高峰,史巧硕.基于Gf集的锻造操作机构型方法[J].机械工程学报,2010,44(11):152-159.
[14] S. Kleinsteuber,N. Sepehri.A polynomial network modeling approach to a class oflarge-scale hydraulic systems [J].Computers & Electrical Engineering,1996,22(2):151-168.
[15] Brain W. Rooks.Software synchronization for radial forging machine manipulators [J].Industrial Robot,1996,23(6):19-23.
[16] Yan C.,Gao F.,Guo W..Coordinated kinematic modeling for motion planning of heavy-duty manipulators in an integrated open-die forging centre[J].Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture,2009,2333(10):1299-11313.
[17]范苗苗,范玉顺,黄双喜.面向锻造操作机系统的设计与仿真支撑平台[J].机械工程学报,2010,46(11):76-82.
[18]关立文,程宁波.锻造操作机相似模型逆动力学建模与非线性控制器设计[J].机械工程学报,2010,46(11):55-60.
[19] T. J. Nye,A. M. Elbadan,G. M. Bone.Real-time process characterization of open die forging for adaptive control[J].Journal of Engineering Materials and Technology,2001,123(4):511-516.
[20] Yunpeng Ren , Chongshao Lu , Qingkai Han , Tianxia Zhang , Bangchun Wen.Simulated Comparison on Kinematics Properties of Two Typical Mechanisms of Forging Manipulator [J].Proceeding of the SPIE - The International Society for Optical Engineering,2007,6794:6794N1-6.
[21] Collins F. Adetu,Carl A. Moore,Jr.,Rodney G. Roberts.Dynamic modeling and control of the omega-3 parallel manipulator[C].Proceedings of the 2009 IEEE International Conference on Systems,2009:3599-3604.
[22] Xuesong Wang,Guangzheng Peng.Modeling and control for pneumatic manipulator based on dynamic neural network[C] . Proceedings of the IEEE International Conference on Systems,Man and Cybernetics,2003,3:2231-2236.
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