CN113120822A - Multi-arm synchronous superposition linkage control system - Google Patents
Multi-arm synchronous superposition linkage control system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a multi-arm synchronous superposition linkage control system, which comprises a fixed unit, a movable unit and a translation unit which are oppositely arranged, wherein the fixed unit and the movable unit are respectively provided with a plurality of groups of swing arms, the swing arms are connected with a turnover oil cylinder for driving the swing arms to turn over, the translation unit is connected with a translation motor for driving the translation unit to move, a displacement sensor is arranged in the turnover oil cylinder, the fixed unit, the movable unit and the translation unit are respectively connected with a fixed sub-control system, a movable sub-control system and a translation sub-control system for controlling turning over, superposition and translation, a closed-loop control loop is formed among the fixed sub-control system, the movable sub-control system and the translation sub-control system through a control algorithm, the displacement sensor is used for detecting the length displacement value of the turnover oil cylinder, the displacement value of the turnover oil cylinder is used as a system driving value, the turnover, used for realizing the linkage of all parts.
Description
Technical Field
The invention relates to the technical field of transmission control, in particular to a multi-arm synchronous superposition linkage control system.
Background
The prior non-marking mechanical fields all relate to synchronous lifting, overturning, folding, moving and linkage control of a plurality of units. For example, in a turning machine for welding profile steel, for example, in the turning of the front and back sides of a concrete precast slab, because the length of a member is long, a plurality of lifting units are required to be arranged on the turning machine to carry the unit to realize lifting, turning, folding, moving and linkage control. In the process of upset, the synchronism of a plurality of upset swing arms is crucial, and asynchronous will distort the mould platform, and then damage the prefab. In the prior art, a plurality of sensors are usually arranged to form a closed loop to detect the angle change of each overturning swing arm, so as to realize the synchronism of the plurality of overturning swing arms. But have the synchronous precision of upset swing arm poor, and can't carry out the defect of compensation, lead to the mould platform distortion easily, and then damage prefabricated component.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-arm synchronous superposition linkage control system, which takes hydraulic drive and motor drive as drive units, can realize synchronous lifting of two or more oil cylinder arms and linkage superposition of symmetrical swing arms, and can improve the precision, stability, reliability and interchangeability of the control system.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-arm synchronous superposition linkage control system comprises a fixed unit and a movable unit which are oppositely arranged, wherein a translation unit is connected between the fixed unit and the movable unit, a plurality of groups of swing arms are arranged on the fixed unit and the movable unit respectively, the swing arms are connected with a turnover oil cylinder for driving the swing arms to turn over, the translation unit is connected with a translation motor for driving the translation unit to move, a displacement sensor is arranged in the turnover oil cylinder, the fixed unit, the movable unit and the translation unit are respectively connected with a fixed sub-control system, a movable sub-control system and a translation sub-control system for controlling turning, superposition and translation, a closed-loop control loop is formed among the fixed sub-control system, the movable sub-control system and the translation sub-control system through a control algorithm, and the displacement sensor is used for detecting the length displacement value of the turnover, and calculating to obtain the overturning angle of the swing arm by taking the displacement value of the overturning oil cylinder as a system driving value so as to control the translation motor to adjust the distance between the fixed unit and the movable unit, thereby realizing the linkage of each part.
Further, the control algorithm comprises a linear uniform velocity module, a linear variable velocity module and a rotation module, the three modules can be combined at will to form linkage control, and the use sequence among the modules is classified as follows: the linear constant-speed module has the advantages of stable parameters and easy detection, is most suitable for being used as the first driving module, adopts a basic calculation formula as follows,
S＝S0+v0×t (2-1)，
wherein S0For an initial stroke, v0Constant or initial speed, t is time;
the linear speed change module generally generates linear motion with speed or acceleration change after other driving modules are transmitted by structures, and is generally used as a second driving module or a third driving module, the adopted basic calculation formula is as follows,
v(t)＝S' (2-4)，
wherein v is velocity, a is acceleration, v varies with time, and acceleration a may be constant or may vary with time;
the parameters of the uniform speed rotation module are stable, the uniform speed rotation module is suitable for being used as a first driving module, a basic calculation formula is adopted as follows,
θ＝θ0+ω0×t (2-6)，
where θ is the angle, θ0Is an initial angle, ω0A constant or initial angular velocity;
the variable speed rotation module generally generates circular motion with speed or acceleration change after other driving modules are transmitted through structures, and generally serves as a second driving module or a third driving module, and adopts the basic calculation formula as follows,
ω(t)＝θ' (2-8)，
where ω is an angular velocity and α is an angular acceleration, the value of the angular velocity ω changes with time, and the value of the angular acceleration α may be constant or may change with time.
Furthermore, the translation sub-control system comprises a CPU and an input/output module of digital quantity and analog quantity, the CPU is connected with a touch screen and a frequency converter, the touch screen is used for setting system parameters and displaying states and synchronous errors of all parts, and the frequency converter is used for controlling the translation motor.
Further, the fixed sub-control system and the movable sub-control system use a displacement sensor detection value (namely, a cylinder stroke) arranged in a driving cylinder as a first driving module, one measured displacement value data is basic data, other detection data is compared with the first measured displacement value data, the detection data is accurate and is detected to be qualified synchronously, and then the swing arm angle calculated through conversion of the formula is output
Furthermore, each swing arm is connected with a proportional reversing valve, the proportional reversing valves control driving oil cylinders, a magnetostrictive scale is arranged in each overturning oil cylinder and used as a lifting feedback value of the driving oil cylinder, one oil cylinder is taken as a reference oil cylinder, a constant speed is given, the lifting feedback value of the oil cylinder is used as a reference value, the feedback values of the rest driving oil cylinders are compared with the reference value in real time, and then the speeds of the rest driving oil cylinders are changed in real time, so that the positions of the four driving oil cylinders are synchronized in real time, and the driving oil cylinders are driven to rotate synchronously
And further, comparing the detection data with displacement value data measured on the basis, wherein the allowable error is 0 to +2mm, if the detection data are asynchronous but within the allowable error range, automatically adjusting by the proportional directional valve to enable the displacement value to be synchronous, and if the asynchronous value exceeds the allowable error value, stopping the system to alarm.
Furthermore, each magnetostrictive scale is connected to an analog input module, each path of output of the analog output module respectively controls each proportional directional valve, the speed of the reference driving oil cylinder is set in the touch screen by a user, the analog output value of each tracking oil cylinder is obtained according to calculation, converted into a current signal and input to the proportional directional valve, and the flow is regulated, so that the speed of the driving oil cylinder is controlled, and the direction of the proportional directional valve is changed by the positive and negative of the output value.
In summary, compared with the prior art, the invention has the following beneficial effects:
1. firstly, a closed-loop control loop part which needs a sensor to complete originally is replaced by a system algorithm; secondly, a parallel connection method that the sensors with the same functions and the same functions detect each other is adopted, so that the numerical value of each sensor is used as a control output value and a detection feedback value, and the stability and the accuracy of a mutual detection method are compensated by synchronous detection;
2. the method of adopting the system algorithm to replace the closed loop formed by the sensors reduces the use of the sensors, improves the system stability, provides more upgrading possibility for equipment, reduces the research and development cost, and improves the added value and the competitiveness of products;
3. the use of detection sensors is reduced by adopting a mutual detection method, the quality of a key detector can be improved at the same cost, and the detection reliability is improved. Meanwhile, the problem of simultaneous detection error possibly occurring with small probability of mutual detection compensation is added, so that the accuracy and the stability of the method are ensured.
Drawings
FIG. 1 is a flow chart of the operation of an apparatus according to an embodiment of the present invention;
FIGS. 2-7 are schematic diagrams illustrating the turning process of the apparatus according to the embodiment of the present invention;
FIG. 8 is a schematic view of a control system according to an embodiment of the present invention;
FIG. 9 is a graph comparing swing arm angles of a fixed unit and a movable unit according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a driving cylinder according to an embodiment of the present invention;
FIG. 11 is a simplified model diagram of an embodiment of the present invention;
FIG. 12 is a graph of key value variation according to an embodiment of the present invention.
Detailed Description
The embodiment of the multi-arm synchronous superposition linkage control system of the invention is further explained with reference to fig. 1 to 12.
Example apparatus introduction: the control system controls a four-arm oblique laminating device (hereinafter referred to as oblique laminating device) to realize 180-degree turnover of the components. The oblique folding device comprises a movable unit and a fixed unit. The movable unit comprises four swing arms, four translation platforms and four locking mechanisms, wherein the swing arms are driven by a driving oil cylinder, and a displacement sensor is arranged in the driving oil cylinder. The fixed unit comprises four swing arms and four locking mechanisms, the swing arms are driven by a driving oil cylinder, and a displacement sensor is arranged in the driving oil cylinder.
The main operation of the apparatus operation flow will be described with reference to fig. 1 to 7:
1. the component-carrying mold platform A enters a fixed overturning station, and the empty mold platform B enters a movable overturning station;
2. the overturning swing arms of all the overturning units are respectively lifted to 60 degrees, the upper locking devices of all the overturning units hook the upper edge of the die table, and the component top plates of all the overturning units prop the lower edge of the die table;
3. the fixed unit turnover swing arm is lifted to an angle of 85 degrees, and the movable unit turnover swing arm is lifted to an angle of 95 degrees and the left and right positions are adjusted until the die table B and the die table A are closed;
4. on the premise that the die table A and the die table B are kept in a closed state, the positions of the overturning swing arm and the movable unit are adjusted, so that the overturning swing arm of the fixed unit is lifted to an angle of 95 degrees, and the overturning swing arm of the movable unit is lowered to an angle of 85 degrees;
5. the components on the die table A fall into the die table B, the overturning swing arm of the movable unit descends to an angle of 60 degrees firstly, and then the overturning swing arm of the fixed unit descends;
6. the swing arm of the movable unit is laid flat, and the component carrying die table B outputs the component; and (4) flatly placing the swing arm of the fixed unit to wait for the mold table A to enter.
In order to realize the linkage of the turning, folding and translation actions, the control system sets a fixed sub-control system, a movable sub-control system and a translation sub-control system according to basic parameters of the equipment. The basic parameters of the equipment comprise the initial length of a driving oil cylinder, the inherent angle difference between a swing arm and the driving oil cylinder, the length of a hinge point of the swing arm and the thickness of a component. Basic parameters of the translation part are set on the main control interface, the translation part comprises translation driving and detection control for providing the movable unit, and the output translation travel value is S.
As shown in fig. 10, the stator control system uses the displacement sensor detection value (i.e. the cylinder stroke) set in the driving cylinders a-1, a-2, a-3, a-4 as a first driving module, wherein the displacement value data measured by a-1 is reference data, the other three detection data are compared with the displacement value data measured by a-1, the allowable error is 0 to +2mm, the detection data are accurate and are qualified through synchronous detection, and the swing arm angle a after geometric conversion is output. If the detected data is not synchronous but within the allowable error range, the proportional directional valve automatically adjusts to synchronize the displacement value, and if the asynchronous value exceeds the allowable error value, the system stops and alarms.
The active cell control system takes displacement sensor detection values (namely, the stroke of the oil cylinders) arranged in the driving oil cylinders B-1, B-2, B-3 and B-4 as a first driving module, wherein displacement value data measured by the B-1 is reference data, other three detection data are compared with the displacement value data measured by the B-1, the allowable error is 0 to +2mm, the detection data are accurate and are synchronously detected to be qualified, and then the swing arm angle B after geometric conversion is output. If the detected data is not synchronous but within the allowable error range, the proportional reversing valve automatically adjusts to synchronize the displacement value, and if the asynchronous value exceeds the allowable error value, the system stops and alarms.
Taking a component with a thickness of 500mm as an example, the control algorithm utilizes the translation value S, the swing arm angle a and the swing arm angle B in combination with the geometric transformation calculation of the mechanism itself, and outputs curves of the fixed unit swing arm angle a and the movable unit swing arm angle B without considering the translation, as shown in fig. 9: in the figure, from left to right, a section I is an arm lifting stage, a section II is a low-speed superposition stage, a section III is a superposition overturning stage, a section IV is a separation stage, and a section V is an arm descending stage.
The control system uses Siemens S7-1515 CPU and input/output module of digital quantity and analog quantity, the touch screen and the frequency converter are communicated with the CPU through the Profinet network, the touch screen is used for setting system parameters and displaying states and synchronous errors of all parts, and the frequency converter is used for controlling the translation motor.
The independent fixed arm or movable arm needs to keep four arms synchronous in the process of ascending or descending, each arm is provided with a load oil cylinder and a proportional reversing valve, and the proportional reversing valve is used for controlling the lifting oil cylinder. Each oil cylinder is internally provided with a magnetostrictive ruler as an oil cylinder lifting feedback value. One of the oil cylinders is taken as a reference oil cylinder, a constant speed is given, the lifting feedback value of the oil cylinder is taken as a reference value, the feedback value of each of the other oil cylinders is compared with the reference value in real time, and the speed of each of the other lifting oil cylinders is changed in real time, so that the positions of the four lifting oil cylinders are synchronized in real time.
The four magnetostrictions are connected to the analog input module, and four paths of outputs of the analog output module respectively control the four proportional reversing valves. The speed of the reference oil cylinder is set by a user in the touch screen, the analog quantity output value of each tracking oil cylinder is calculated according to a synchronous formula, converted into a current signal and input to the proportional directional valve, and the flow is regulated, so that the speed of the lifting oil cylinder is controlled, and the direction of the proportional directional valve is changed by the positive and negative of the output value.
In the overturning process of the fixed arm (fixed unit swing arm), the movable arm (movable unit swing arm) and the translation motor which are used in a combined mode, when the overturning process is from a negative angle to 0 degree, the translation motor moves inwards, and when the overturning process is from 0 degree to a positive angle, the translation motor moves outwards. In the process, the lifting speeds of the fixed arm and the movable arm are kept consistent, and the speed v of the translation motor can be calculated according to a formula.
The cooperation of the modules is described by referring to the schematic diagram of fig. 11, and referring to fig. 11, (a) for simplifying the model-5 ° angular position, and (b) for simplifying the model-5 ° angular position, the following definitions are first made:
AB＝A1B1＝a；
BC＝B1C1＝b；
AC＝c，A1C1＝c1；
BB1＝m；
∠ABC＝θ，∠A1B1C1＝θ1；
the angle of DE relative to the horizontal plane is beta;
D1E1angle beta to the horizontal plane1；
The working time is t;
l is the minimum distance when the brackets on the two sides are parallel.
Calculating according to known conditions:
1. according to the control flow chart, the oil cylinder is provided with a proportional reversing valve in front, hydraulic oil can be quantitatively output, and the length of the initial oil cylinder is c on the assumption that the driving oil cylinder pushes out at a constant speed0C ═ c available according to formula (2-1)0+VcX t, the value c in this embodiment is the first driving module;
2. calculated according to the trigonometric function formula, theta ═ arccos [ (a ^2+ b ^2-c ^2)/2ab ],
θ1＝arccos[(a1^2+b1^2-c1^2)/2a1b1](ii) a (trigonometric function formula is common general knowledge in the mathematical and chemical industry)
3. The angular velocity of the included angle θ can be calculated according to equation (2-8): (the derivative formula applied is common general knowledge)
4. The angular velocity of the included angle θ 1 can be calculated according to the following equation (2-8):
the values of θ and θ 1 are set to range from-5 ° to-5 °, where β is-5 ° in the graph (a) and β 1 is 5 ° in the graph (b), and θ + β is 122.54 °, θ is measured1-β1122.54 ° (this value is a device-specific parameter and is input to the system as a constant in advance), the relationship between θ and β (θ 1 and β 1) is a constant relationship, and therefore the angular velocity of β is ω, β1Has an angular velocity of ω1；
5. When the two side moving brackets are folded, the distance between the surfaces of the moving brackets is L, and the standard distance L is0180(mm) (i.e., the width of the member), the allowable deviation is temporarily set to 0 to +2(mm), and L is L0When m is 180mm, m is m0＝960mm；
6. Assuming a rotary hinge with a vertical state (i.e. β ═ 0 °) of the member as a reference positionThe change of L along with beta is expressed as L ═ m0-(m0-L0) ,/cos (. beta.), the difference in the course of change, Δ ═ L-L0＝(m0-L0)×[1-sec(β)]＝(960-180)×[1-sec(β)]＝780×[1-sec(β)]；
7. To make the L value always equal to L0Equal in value, m should change accordingly, m ═ m0×sec(β)；
8. Instantaneous speed of m-value change
Vm＝m'＝m0×sec(β)×tan(β)×d(β)＝m0×sec(β)×tan(β)×ω。
Combining with the control flow chart, inputting known condition values on the input interface of the control system, and driving the c value and the c value obtained by the oil cylinder displacement sensor1The value is used as a system driving value, and the c value are determined by an algorithm1Is calculated (process 2) so as to be controlled by controlling theta and theta1To ensure that beta is equal to beta1(calculation process 4). At the same time, according to the change of beta and the known condition value L0The value of m is automatically calculated to adjust the value of L (calculation processes 6 and 7). In the control system, not only the distance value and the angle value are controlled, but also the corresponding speed and the angular speed are coordinately controlled, the change of the angular speed is obtained through an algorithm to ensure that the movement is in a stable and reasonable range (calculation processes 3 and 4), the final Vm value is obtained through the algorithm to provide a speed parameter for driving the transverse movement to be correct, and the control function and the accuracy of an output result are ensured (calculation process 8)
From the above embodiment, it can be seen that:
1. the larger the swing arm is inclined, the larger the generated distance change is, and the larger the distance change is generated by the thicker the component is;
2. the reasonable clearance between the component and the movable bracket is 5 mm;
3. the control system method can monitor and control the motion parameters of the whole process, if the research time is a certain time period, such as a time period of 1.5-10 seconds, because the displacement value is less than the allowable error value of 0- +2mm, a translation speed trend line is matched, and the trend line can be adopted to fit and be matched with the reserved allowance, namely Vm is-0.0223 t +1.311, so that the control difficulty is simplified, and the software application threshold is reduced.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. A multi-arm synchronous superposition linkage control system is characterized in that: the device comprises a fixed unit and a movable unit which are oppositely arranged, wherein a translation unit is connected between the fixed unit and the movable unit, a plurality of groups of swing arms are arranged on the fixed unit and the movable unit respectively, the swing arms are connected with a turnover oil cylinder for driving the swing arms to turn over, the translation unit is connected with a translation motor for driving the translation unit to move, a displacement sensor is arranged in the turnover oil cylinder, the fixed unit, the movable unit and the translation unit are respectively connected with a fixed sub-control system, a movable sub-control system and a translation sub-control system for controlling turning, folding and translation, a closed-loop control circuit is formed among the fixed sub-control system, the movable sub-control system and the translation sub-control system through a control algorithm, the displacement sensor is used for detecting the length displacement value of the turnover oil cylinder, and the displacement value of the, the turning angle of the swing arm is obtained through calculation, so that the translation motor is controlled to adjust the distance between the fixed unit and the movable unit, and linkage of all parts is achieved.
2. The multi-arm simultaneous folding linkage control system according to claim 1, wherein: the control algorithm comprises a linear uniform speed module, a linear speed changing module and a rotating module, the three modules can be combined at will to form linkage control, the rotating module comprises a uniform speed rotating module and a speed changing rotating module, the linear uniform speed module adopts the basic calculation formula as follows,
S＝S0+v0×t (2-1)，
wherein S0For an initial stroke, v0Constant or initial speed, t is time;
the linear speed change module adopts the basic calculation formula as follows,
v(t)＝S' (2-4)，
wherein v is velocity, a is acceleration, v varies with time, and acceleration a may be constant or may vary with time;
the basic calculation formula of the uniform speed rotation module is as follows,
θ＝θ0+ω0×t (2-6)，
where θ is the angle, θ0Is an initial angle, ω0A constant or initial angular velocity;
the variable speed rotation module is generally based on a basic calculation formula adopted by other circular motion which generates speed or acceleration change after being transmitted by a structure,
ω(t)＝θ' (2-8)，
where ω is an angular velocity and α is an angular acceleration, the value of the angular velocity ω changes with time, and the value of the angular acceleration α may be constant or may change with time.
3. The multi-arm simultaneous folding linkage control system according to claim 2, wherein: the translation control system comprises a CPU (central processing unit) and an input/output module of digital quantity and analog quantity, the CPU is connected with a touch screen and a frequency converter, the touch screen is used for setting system parameters and displaying states and synchronous errors of all parts, and the frequency converter is used for controlling the translation motor.
4. The multi-arm simultaneous folding linkage control system according to claim 3, wherein: the fixed sub-control system and the movable sub-control system use a displacement sensor detection value (namely, the stroke of the oil cylinder) arranged in a driving oil cylinder as a first driving module, one measured displacement value data is basic data, other detection data is compared with the first measured displacement value data, and the swing arm angle calculated through conversion of the formula is output if the detection data is accurate and is qualified through synchronous detection.
5. The multi-arm simultaneous folding linkage control system according to claim 4, wherein: and each swing arm is connected with a proportional reversing valve, the proportional reversing valves control the driving oil cylinders, a magnetostrictive ruler is arranged in each overturning oil cylinder and used as a lifting feedback value of the driving oil cylinder, one oil cylinder is taken as a reference oil cylinder, a constant speed is given, the lifting feedback value of the oil cylinder is used as a reference value, the feedback values of the other driving oil cylinders are compared with the reference value in real time, and then the speeds of the other driving oil cylinders are changed in real time, so that the positions of the four driving oil cylinders are synchronized in real time.
6. The multi-arm simultaneous folding linkage control system according to claim 5, wherein: the detection data is compared with displacement value data measured on the basis, the allowable error is 0 to +2mm, if the detection data is asynchronous but within the allowable error range, the proportional directional valve automatically adjusts to enable the displacement value to be synchronous, and if the asynchronous value exceeds the allowable error value, the system stops and gives an alarm.
7. The multi-arm simultaneous folding linkage control system according to claim 6, wherein: each magnetostrictive scale is connected to the analog quantity input module, each path of output of the analog quantity output module respectively controls each proportional directional valve, the speed of the reference driving oil cylinder is set in the touch screen by a user, the analog quantity output value of each tracking oil cylinder is obtained according to calculation, converted into a current signal and input to the proportional directional valve, and the flow is regulated, so that the speed of the driving oil cylinder is controlled, and the direction of the proportional directional valve is changed by the positive and negative of the output value.
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