A Trajectory Planning Method for Variable Speed ​​Drop of Composite Press

A technology of trajectory planning and composite materials, which is applied in general control systems, instruments, adaptive control, etc., can solve the problems of slow planning speed and inability to achieve effective vibration reduction in the output trajectory, so as to weaken pressure vibration and realize accurate identification and suppression. The effect of fast planning of vibration trajectory and avoiding motion impact

CN106773716BActive Publication Date: 2019-06-04FUZHOU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2019-06-04

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Abstract

The invention relates to a trajectory planning method for variable speed drop of composite press. The trajectory planning method comprises: first, the differential command signals are input in a proportional pilot control valve to control the circulation drop of the press and collect signals of the movable beam displacement, return cylinder pressure and instruction; then, the movable beam displacement is treated by differential method to get the falling velocity signal of movable beam and the mathematical model of valve flow is obtained by training the collected parameters by neural network algorithm; then, combining the force balance equation of the return cylinder and the continuity equation of the flow, a comprehensive mathematical model of the falling system is built; finally, with the error integral of the return cylinder pressure as the optimization index, the improved genetic algorithm is used to optimize the cubic wire interpolation trajectory, and the control trajectory of the moving beam falling is obtained. The trajectory planning method for variable speed drop of composite press adopts the movable beam falling instruction path planning method can effectively avoid the impact of rigid and flexible impact system, restrain the system pressure fluctuations and improve the efficiency and accuracy of trajectory planning activities to enhance the transmission beam falling, improving engineering adaptability.
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Description

technical field

[0001] The invention relates to a trajectory planning method, in particular to a motion trajectory planning method for a movable beam of a large-tonnage composite hydraulic press with variable speed and falling. Background technique

[0002] Composite material press is the core equipment for public infrastructure construction to manufacture new composite materials. It is widely used in Manufacturing fields of high-tech products such as carbon fiber body, aircraft wing, manipulator and new energy battery. During the pressing process of the hydraulic press, the movable beam usually needs to fall from the machine lock position at high speed, and the speed should be changed from fast to slow before contacting the material to be pressed, so as to prevent the press from generating strong impact, severe noise and vibration, and avoid mold Damaged by impact, thus prolonging the service life of the press and achieving smooth pressing of billets. However, for the fal...

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Embodiment Construction

[0040] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0041] A trajectory planning method for the variable-speed drop of a composite material press according to the present invention, first, control the cyclic drop of the press by comparing the proportional pilot control valve input and other differential command signals, and collect the movable beam displacement, return cylinder pressure and command signals; then, Differentiate the displacement signal of the movable beam to obtain the descending speed signal of the movable beam, and use the neural network algorithm to train the acquisition parameters to obtain the mathematical model of the oil flow of the valve; then, combine the force balance equation and flow continuity equation of the return cylinder to construct the drop The mathematical model of the system is integrated; finally, taking the error integral of the return cylinder pressure...