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

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.

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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