CN109531150B - Synchronous control method for hydraulic cylinders of large-diameter welded pipe unit - Google Patents
Synchronous control method for hydraulic cylinders of large-diameter welded pipe unit Download PDFInfo
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Abstract
The invention discloses a synchronous control method for a hydraulic cylinder of a large-diameter welded pipe unit, which comprises the following steps: connecting a motion control PLC with a plurality of first hydraulic cylinders in a pre-bending machine, and performing master-slave control on the plurality of first hydraulic cylinders; connecting the motion control PLC with a plurality of second hydraulic cylinders in the forming machine, and equally controlling the plurality of second hydraulic cylinders; and connecting the motion control PLC with a plurality of third hydraulic cylinders in the pre-welding machine, and performing virtual main shaft synchronous control on the plurality of third hydraulic cylinders. According to the synchronous control method for the hydraulic cylinders of the large-diameter welded pipe unit, the motion control PLC has the motion control and logic programming functions, and the synchronous motion of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder can be controlled simply by performing logic programming in the motion control PLC, so that the logical control program can be changed conveniently after equipment is replaced, and the universality is high. And the impact on the system is reduced by selecting master-slave control for the first hydraulic cylinder.
Description
Technical Field
The invention relates to the technical field of steel pipe stitch welding, in particular to a synchronous control method for a hydraulic cylinder of a large-diameter welded pipe unit.
Background
The JCO production line for steel pipe stitch welding includes: the device comprises a prebending machine, a forming machine, a prebending machine and a control system. And pre-bending the steel plate after edge milling by using a pre-bending machine, and extruding two ends of the steel plate into an arc shape. And pressing the pre-bent steel plate into an O-shaped pipe barrel by a forming machine, and seaming and welding the formed pipe barrel by a pre-welding machine. The prebending machine, the forming machine and the prebending machine are respectively driven by a plurality of hydraulic cylinders, and the operation of the hydraulic cylinders is controlled by a control system.
The control system provided by the prior art comprises a numerical control unit, an interface circuit and a servo driving device, wherein the numerical control unit is connected with the servo driving device through the interface circuit, and the servo driving device is connected with a hydraulic cylinder to control the operation of the hydraulic cylinder. When the numerical control hydraulic cylinder is used, the numerical control unit executes part or all of numerical control functions according to a stored control program, outputs a low-power electric signal, converts the low-power electric signal into corresponding hydraulic power through the servo driving device, and further controls the operation of the hydraulic cylinder.
The inventor finds that the prior art has at least the following problems: the control program stored in the numerical control unit corresponds to the fixed equipment, and the universality is poor.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a synchronous control method for a hydraulic cylinder of a large-diameter welded pipe unit. The specific technical scheme is as follows:
a synchronous control method for hydraulic cylinders of a large-diameter welded pipe unit comprises the following steps: connecting a motion control PLC with a plurality of first hydraulic cylinders in a pre-bending machine, and performing master-slave control on the plurality of first hydraulic cylinders; connecting the motion control PLC with a plurality of second hydraulic cylinders in a forming machine, and equally controlling the plurality of second hydraulic cylinders; and connecting the motion control PLC with a plurality of third hydraulic cylinders in a pre-welding machine, and performing virtual main shaft synchronous control on the plurality of third hydraulic cylinders.
Further, the first hydraulic cylinder, the second hydraulic cylinder, and the third hydraulic cylinder each include: a PID controller, a proportional valve and a displacement sensor; the motion control PLC sends a control instruction to the PID controller, the PID controller controls the opening degree of the proportional valve, and the displacement sensor detects position information and sends the position information to the PID controller to form closed-loop feedback.
Further, the master-slave control of the plurality of first hydraulic cylinders includes: selecting a master cylinder, sending a preset instruction to a PID (proportion integration differentiation) controller corresponding to the master cylinder by the motion control PLC, adjusting a corresponding proportional valve to a first preset opening degree according to the preset instruction by the PID controller to enable the master cylinder to act, detecting the position of the master cylinder by the displacement sensor and sending position information to the PID controller, adjusting the proportional valve to a target opening degree according to the position information by the PID controller to enable the master cylinder to reach a target position, sending the target opening degree to each slave cylinder, adjusting the corresponding proportional valve to the target opening degree by the PID controller in each slave cylinder, and enabling the slave cylinder to be the first hydraulic cylinder left after the master cylinder is removed.
Further, the performing of the same control on the plurality of second hydraulic cylinders includes: the motion control PLC sends the same preset instruction to the PID controller in each second hydraulic cylinder, the PID controller adjusts the corresponding proportional valve to a second preset opening degree according to the preset instruction to enable the second hydraulic cylinder to act, the displacement sensor detects the position of the second hydraulic cylinder and sends the position information to the PID controller, and the PID controller adjusts the proportional valve to a target opening degree according to the position information to enable the second hydraulic cylinder to reach a target position.
Further, the virtual spindle synchronization control of the plurality of third hydraulic cylinders includes: and establishing a virtual hydraulic cylinder, setting the position of the virtual hydraulic cylinder, and automatically adjusting the plurality of third hydraulic cylinders to be synchronous with the virtual hydraulic cylinder according to the action of the virtual hydraulic cylinder.
Furthermore, the motion control PLC is connected with an operation screen, and an operation instruction is input through the operation screen.
Further, the number of the first hydraulic cylinders is 4.
Further, the number of the second hydraulic cylinders is 6.
Further, the number of the third hydraulic cylinders is 13.
The technical scheme of the invention has the following main advantages:
in the method for synchronously controlling the hydraulic cylinders of the large-diameter welded pipe unit, the motion control PLC is respectively connected with the first hydraulic cylinder in the pre-bending machine, the second hydraulic cylinder in the forming machine and the third hydraulic cylinder in the pre-welding machine, and as the motion control PLC has the motion control and logic programming functions, the synchronous motion of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder can be controlled by performing logic programming in the motion control PLC. Compared with the prior art that the hydraulic cylinder is controlled to operate by connecting the numerical control unit with the servo driving device, the hydraulic cylinder control system is simple in structure, can conveniently change a logic control program after equipment is replaced, and is high in universality. In the embodiment of the invention, a master-slave control mode is selected for the first hydraulic cylinder to distinguish from a traditional following mode, when the hydraulic cylinders in the following mode are asynchronous, the hydraulic cylinder with high speed runs in the reverse direction, the hydraulic cylinder with low speed runs in an accelerating mode (fast chasing is slow and slow chasing is slow), the system fluctuation is large due to different moving directions of the hydraulic cylinders, and in the master-slave control, the first hydraulic cylinder with high running speed only slows down the running speed to wait but cannot run in the reverse direction, so that the impact on the system is reduced. The second hydraulic cylinders are controlled equally, so that the response time is shortened, and the second hydraulic cylinders synchronously reach the preset positions. And the third hydraulic cylinder is synchronously controlled by a virtual main shaft, so that the calculation amount is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a hydraulic cylinder synchronous control method for a large-diameter welded pipe unit according to an embodiment of the present invention;
fig. 2 is a logical relationship diagram of master-slave control in the hydraulic cylinder synchronous control method for the large-diameter welded pipe unit according to an embodiment of the present invention;
fig. 3 is a logic relationship diagram of equivalent control in the hydraulic cylinder synchronous control method for the large-diameter welded pipe unit according to an embodiment of the present invention;
fig. 4 is a logic relationship diagram of virtual spindle synchronous control in the hydraulic cylinder synchronous control method for the large-diameter welded pipe unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
The embodiment of the invention provides a synchronous control method for a hydraulic cylinder of a large-diameter welded pipe unit, which comprises the following steps of:
And 102, connecting the motion control PLC with a plurality of second hydraulic cylinders in the forming machine, and equally controlling the plurality of second hydraulic cylinders.
And 103, connecting the motion control PLC with a plurality of third hydraulic cylinders in the pre-welding machine, and performing virtual main shaft synchronous control on the plurality of third hydraulic cylinders.
The motion control PLC can be simultaneously connected with the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder, and for a certain steel plate, the steel plate sequentially goes through the steps of pre-bending, forming and pre-welding, and the step 101, the step 102 and the step 103 are sequentially carried out. During the processing, a plurality of steel plates are arranged in the production line, and the prebending machine, the forming machine and the prebending machine can be started at the same time, namely, the step 101, the step 102 and the step 103 can be carried out at the same time.
In the method for synchronously controlling the hydraulic cylinders of the large-diameter welded pipe unit, which is provided by the embodiment of the invention, the motion control PLC is respectively connected with the first hydraulic cylinder in the pre-bending machine, the second hydraulic cylinder in the forming machine and the third hydraulic cylinder in the pre-welding machine, and as the motion control PLC has the functions of motion control and logic programming, the synchronous motion of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder can be controlled by performing logic programming in the motion control PLC. Compared with the prior art that the hydraulic cylinder is controlled to operate by connecting the numerical control unit with the servo driving device, the hydraulic cylinder control system is simple in structure, can conveniently change a logic control program after equipment is replaced, and is high in universality. In the embodiment of the invention, a master-slave control mode is selected for the first hydraulic cylinder to distinguish from a traditional following mode, when the hydraulic cylinders in the following mode are asynchronous, the hydraulic cylinder with high speed runs in the reverse direction, the hydraulic cylinder with low speed runs in an accelerating mode (fast chasing is slow and slow chasing is slow), the system fluctuation is large due to different moving directions of the hydraulic cylinders, and in the master-slave control, the first hydraulic cylinder with high running speed only slows down the running speed to wait but cannot run in the reverse direction, so that the impact on the system is reduced. The second hydraulic cylinders are controlled equally, so that the response time is shortened, and the second hydraulic cylinders synchronously reach the preset positions. And the third hydraulic cylinder is synchronously controlled by a virtual main shaft, so that the calculation amount is reduced.
How the motion control PLC adjusts the operation of the hydraulic cylinder is explained as follows:
first pneumatic cylinder, second pneumatic cylinder and third pneumatic cylinder all include: PID controller, proportional valve and displacement sensor. The motion control PLC sends a control instruction to the PID controller, the PID controller controls the opening degree of the proportional valve, and the displacement sensor detects position information and sends the position information to the PID controller to form closed-loop feedback. And a closed loop feedback is formed by the PID controller and the position sensor, so that the control precision is improved.
Further, master-slave control is performed on the plurality of first hydraulic cylinders, and the master-slave control method comprises the following steps:
the master hydraulic cylinder is selected, the motion control PLC sends a preset instruction to the PID controller corresponding to the master hydraulic cylinder, the PID controller adjusts the corresponding proportional valve to a first preset opening degree according to the preset instruction to enable the master hydraulic cylinder to act, the displacement sensor detects the position of the master hydraulic cylinder and sends position information to the PID controller, the PID controller adjusts the proportional valve to the target opening degree according to the position information to enable the master hydraulic cylinder to reach a target position and sends the target opening degree to each slave hydraulic cylinder, the PID controller in each slave hydraulic cylinder adjusts the corresponding proportional valve to the target opening degree, and the slave hydraulic cylinders are the remaining first hydraulic cylinders excluding the master hydraulic cylinder.
During operation, a target position which needs to be reached by the first hydraulic cylinder is determined, the motion control PLC acquires the opening degree of the proportional valve corresponding to the target position according to the target position, and sends an instruction to the PID controller corresponding to the main hydraulic cylinder to enable the proportional valve to reach a first preset opening degree, wherein the preset opening degree is the opening degree of the proportional valve corresponding to the target position acquired by the PLC. Considering the factors of different mechanical transmission ratios, errors and the like, the position reached by the main hydraulic cylinder may deviate from the target position actually by the first preset opening degree, the displacement sensor detects the position information of the main hydraulic cylinder and sends the position information to the PID controller, and the proportional valve is further adjusted to the target opening degree through closed-loop feedback regulation so that the main hydraulic cylinder reaches the target position. Synchronously, when the master cylinder performs closed-loop feedback, the target opening degree obtained through the feedback process in the master cylinder is used as the opening degree to which the proportional valve in the slave cylinder needs to be adjusted, and the adjustment quantity of the subsequent feedback control in the slave cylinder is reduced.
Therefore, through master-slave control, the motion control PLC only needs to send instructions to the PID controller of the master hydraulic cylinder in the control process, and all the first hydraulic cylinders can synchronously move. A logical relationship diagram of master-slave control can be seen in fig. 2.
Further, the same control of the plurality of second hydraulic cylinders includes:
the motion control PLC sends the same preset instruction to the PID controller in each second hydraulic cylinder, the PID controller adjusts the corresponding proportional valve to a second preset opening degree according to the preset instruction to enable the second hydraulic cylinder to act, the displacement sensor detects the position of the second hydraulic cylinder and sends position information to the PID controller, and the PID controller adjusts the proportional valve to a target opening degree according to the position information to enable the second hydraulic cylinder to reach a target position.
By adopting synchronous control, the second hydraulic cylinders can be independently adjusted without mutual interference, and the anti-interference performance is stronger. A logical relationship diagram for synchronous control can be seen in fig. 3.
Further, performing virtual main shaft synchronization control on a plurality of third hydraulic cylinders includes:
and establishing a virtual hydraulic cylinder, setting the position of the virtual hydraulic cylinder, and automatically adjusting the plurality of third hydraulic cylinders to be synchronous with the virtual hydraulic cylinder according to the action of the virtual hydraulic cylinder.
Most parameters in the virtual spindle synchronous control can be freely set in a program, so that the virtual spindle synchronous control method has good flexibility, and good synchronous control performance can be realized by continuously adjusting the numerical values of the parameters. The logical relationship diagram of the virtual spindle synchronization control can be seen in fig. 4.
In the embodiment of the invention, the motion control PLC is connected with the operation screen, and the operation instruction is input through the operation screen. The working personnel input parameters through the operation screen to control the action of the hydraulic cylinders, and the motion state of each hydraulic cylinder can be displayed through the operation screen.
It can be understood that the operation screen can be a touch display screen, which is convenient for operation and real-time display of the motion state of each hydraulic cylinder.
The method provided by the embodiment of the invention is applied to a large-caliber pipe welding unit, wherein the two ends of the steel plate after edge milling are extruded into an arc shape by the pre-bending machine, and the number of the first hydraulic cylinders in the pre-bending machine can be 4.
The forming machine presses the pre-bent steel plate into an O-shaped tube barrel, and the number of the second hydraulic cylinders in the forming machine can be 6.
The pre-welding machine joints and welds the formed pipe barrel by pressing 9 combined seam rollers simultaneously, and the number of the third hydraulic cylinders can be 13.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A hydraulic cylinder synchronous control method for a large-diameter welded pipe unit is characterized by comprising the following steps:
connecting a motion control PLC with a plurality of first hydraulic cylinders in a pre-bending machine, and performing master-slave control on the plurality of first hydraulic cylinders, wherein the number of the first hydraulic cylinders is 4;
connecting the motion control PLC with a plurality of second hydraulic cylinders in a forming machine, and equally controlling the plurality of second hydraulic cylinders, wherein the number of the second hydraulic cylinders is 6;
connecting the motion control PLC with a plurality of third hydraulic cylinders in a pre-welding machine, and performing virtual main shaft synchronous control on the plurality of third hydraulic cylinders, wherein the number of the third hydraulic cylinders is 13;
the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder all include: a PID controller, a proportional valve and a displacement sensor;
the motion control PLC sends a control instruction to the PID controller, the PID controller controls the opening degree of the proportional valve, and the displacement sensor detects position information and sends the position information to the PID controller to form closed-loop feedback.
2. The hydraulic cylinder synchronous control method of the large-caliber pipe welding unit according to claim 1, wherein the master-slave control of the plurality of first hydraulic cylinders comprises:
selecting a master cylinder, sending a preset instruction to a PID (proportion integration differentiation) controller corresponding to the master cylinder by the motion control PLC, adjusting a corresponding proportional valve to a first preset opening degree according to the preset instruction by the PID controller to enable the master cylinder to act, detecting the position of the master cylinder by the displacement sensor and sending position information to the PID controller, adjusting the proportional valve to a target opening degree according to the position information by the PID controller to enable the master cylinder to reach a target position, sending the target opening degree to each slave cylinder, adjusting the corresponding proportional valve to the target opening degree by the PID controller in each slave cylinder, and enabling the slave cylinder to be the first hydraulic cylinder left after the master cylinder is removed.
3. The hydraulic cylinder synchronous control method of the large-caliber pipe welding unit according to claim 1, wherein the equally controlling the plurality of second hydraulic cylinders comprises:
the motion control PLC sends the same preset instruction to the PID controller in each second hydraulic cylinder, the PID controller adjusts the corresponding proportional valve to a second preset opening degree according to the preset instruction to enable the second hydraulic cylinder to act, the displacement sensor detects the position of the second hydraulic cylinder and sends the position information to the PID controller, and the PID controller adjusts the proportional valve to a target opening degree according to the position information to enable the second hydraulic cylinder to reach a target position.
4. The hydraulic cylinder synchronous control method of the large-caliber pipe welding unit according to claim 1, wherein the virtual main shaft synchronous control of the plurality of third hydraulic cylinders comprises:
and establishing a virtual hydraulic cylinder, setting the position of the virtual hydraulic cylinder, and automatically adjusting the plurality of third hydraulic cylinders to be synchronous with the virtual hydraulic cylinder according to the action of the virtual hydraulic cylinder.
5. The hydraulic cylinder synchronous control method of the large-caliber pipe welding unit according to any one of claims 1 to 4, wherein the motion control PLC is connected with an operation screen, and an operation instruction is input through the operation screen.
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