数控折弯机电液比例控制技术的研究  

Research on Electro⁃hydraulic Proportional Control Technology for CNC Bending Machine

作　　者：赵怡麟 游有鹏[1] 杨雪峰[1] ZHAO Yilin;YOU Youpeng;YANG Xuefeng(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 210000,China)

机构地区：[1]南京航空航天大学机电工程学院,江苏南京210000

出　　处：《机床与液压》2020年第23期75-80,共6页Machine Tool & Hydraulics

基　　金：国家重点研发计划资助(2018YFB1309203)。

摘　　要：钣金折弯过程中因折弯机双缸电液比例模型参数的差异与时变以及折弯负载力干扰等导致系统指令跟随误差和双缸同步误差增大,为减小这种误差给生产效率和机床工况带来的不良影响,提出了一种基于迭代前馈和单神经元PID的复合控制算法,利用单神经元PID的自适应能力提高系统对折弯负载力干扰的鲁棒性,通过迭代学习前馈控制提高系统的快速跟随性,并引入交叉耦合控制改善双缸同步性。折弯实验结果表明:该复合控制算法较工程中常用的PID算法,不仅使得最大跟踪误差和最大同步误差分别从2.1 mm和0.14 mm减小到0.5 mm和0.055 mm,改善了机床加工工况,而且折弯工进的定位周期缩短了约18%,提高了生产效率。In sheet metal bending process,the system instruction following error and two⁃cylinder synchronization error increase due to the difference and time variation of electro⁃hydraulic proportional two⁃cylinder model parameters and the interference of bending load.In order to reduce the negative influence of the errors on production efficiency and machine working condition,a compound control algorithm based on iterative feedforward and single neuron PID was proposed.The adaptive ability of single neuron PID was used to im⁃prove the robustness of the system against the bending load interference.Through iterative algorithm,feedforward control was learned to improve the system fast following,and the cross⁃coupling control was used to improve the two⁃cylinder synchronization.The bending experimental results show that compared with the PID algorithm commonly used in engineering,using this compound control algorithm,the maximum tracking error and maximum synchro error are reduced from 2.1 mm and 0.14 mm to 0.5 mm and 0.055 mm respectively and the working condition of the machine tool is improved.The bending positioning cycle is shortened by about 18%,and the produc⁃tion efficiency is improved.

关 键 词：电液比例控制技术 负载力干扰 单神经元PID 迭代前馈 交叉耦合控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]