Aluminum alloy shaped ring rolling method based on position-force feedback

Abstract

The application discloses a kind of aluminium alloy special-shaped ring piece rolling method based on bit-force feedback, with aluminium alloy special-shaped ring piece and existing ring piece rolling equipment as research object, in the rolling process according to the guide roller driving hydraulic cylinder pressure sensor data and displacement sensor data, the state of ring piece rolling process is identified, such as wall thickness, real-time outer diameter and deformation trend, further propose that special-shaped ring piece rolling process meets the critical index of rigidity condition, such as guide roller limit contact force and corresponding limit radius deviation, finally according to the guide roller hydraulic cylinder thrust and ring piece real-time position bit-force feedback control is carried out to guide roller position, taper roller rotating speed and core roller feed speed.The application can effectively inhibit the unstable phenomenon of ring piece rolling process, improve the rolling equipment efficiency and ring piece forming quality and greatly reduce the scrap rate, realize the stable radial-axial rolling of large special-shaped ring piece.

Description

Technical Field

[0001] This invention relates to aluminum alloy ring rolling equipment, and more specifically to a method for rolling irregularly shaped aluminum alloy rings with coordinated control of position and contact force. Background Technology

[0002] Aluminum alloy rings are critical load-bearing components for rockets. Compared to other ring processing methods, radial-axial ring rolling technology offers advantages in economy, high processing efficiency, and good finished product quality, making it the primary production method for aluminum alloy rings. Radial-axial ring rolling technology is a continuous deformation plastic processing technique. Through the rotation of the drive roller and the feeding of the mandrel, the wall thickness of the annular metal billet continuously decreases while the radius gradually increases. Further adjustments to the ring height are made by rotating and feeding a pair of conical rollers to obtain the target ring size. To monitor the ring's outer diameter, a measuring roller is placed between the pair of conical rollers, and its relative position to the drive roller provides the real-time outer diameter. To improve the stability of the rolling process and enhance the overall roundness of the ring, a pair of guide rollers are placed on both sides of the drive roller. During rolling, the control system adjusts the position of the guide rollers based on the real-time outer diameter of the billet obtained from the measuring roller, ensuring that the center of rotation of the billet remains on the line connecting the drive roller and the measuring roller throughout its growth. Finally, the billet achieves the target size through multi-pass rolling with coordinated multi-roll operation.

[0003] See Figure 2 A 3D diagram of the rolling equipment and process for irregularly shaped rings. The existing rolling operation steps for aluminum alloy rings are as follows:

[0004] Step 1: Place the ring billet 4 on the rolling platform and pass the core roller 5 through the inner hole of the billet. The platform and the core roller 5 move together to make the ring billet contact the drive roller 6.

[0005] Step 2: Conical rollers 8 and 10 move closer to the ring blank until measuring roller 9 obtains the radius signal of the ring blank;

[0006] Step 3: The guide rollers 3 and 11 on both sides move to the outside of the ring blank according to the real-time outer diameter of the ring blank and are adjusted in real time;

[0007] Step 4: The core roll 5, tapered roll 8, and 10 perform radial-axial rolling on the ring billet 4 according to the pre-defined rolling process parameters.

[0008] However, in actual production, the rolling of large rings is characterized by poor stiffness and long deformation paths. The existing method only uses one measuring roll (9) to measure the real-time outer diameter of the ring blank, making it difficult to accurately characterize the real-time outer diameter. Therefore, the positional constraints imposed by guide rolls (3, 11) on the ring blank can easily lead to instability and warping, thereby reducing the dimensional accuracy and microstructure of the ring, and even causing rolling failure. This is particularly evident in the hot rolling of aluminum alloy rings. Consequently, the process parameters during rolling are often not set to optimal values. For example, lower feed speeds of the core roll (5) and tapered rolls (8, 10) limit the minimum wall thickness and diameter of the ring blank, reducing the ring's growth rate and significantly decreasing production efficiency. Furthermore, poor rolling parameter settings further exacerbate the fishtail defects generated at both ends of the ring, further reducing material utilization.

[0009] On the other hand, in radial-axial rolling, ensuring the consistency of the linear velocity of the contact position between the tapered rolls 8 and 10 and the ring blank with the linear velocity of the ring blank is a crucial prerequisite for stable rolling. When the tapered rolls 8 and 10 rotate too fast or too slow, a phenomenon similar to "steel piling" in plate rolling will occur on one side of the ring blank. When this "steel piling" phenomenon intensifies, the ring blank will collapse inward or warp upward under the pressure of the guide rolls 3 and 11, becoming a scrap product. Therefore, precise control of the rotational speed of the tapered rolls 8 and 10 is particularly important. However, in actual production, there is slippage between the drive rolls and the tapered rolls and the ring blank, and the uncertainty of the ring blank's geometry also increases the probability of "steel piling." Existing control methods for the guide rolls 3 and 11 are insufficient to effectively address this "steel piling" phenomenon. Therefore, real-time feedback stability control of the ring blank rolling process is of great significance. Summary of the Invention

[0010] The purpose of this invention is to provide a method for rolling irregularly shaped rings based on position-force feedback, building upon existing ring rolling equipment. Addressing the instability problem in the radial-axial rolling process of large irregularly shaped rings, this invention proposes a stability control method for rolling irregularly shaped rings based on pressure sensor data from the guide roller drive hydraulic cylinder and displacement sensor data. This method compensates for the insufficiency of the measuring roller not being able to reflect the ring state in time after the core roller is fed. Furthermore, based on the proposed instability conditions for irregularly shaped rings, the position of the guide roller and the speed of the tapered roller are adjusted in real time according to the pressure signal from the guide roller hydraulic cylinder to achieve stable radial-axial rolling of large irregularly shaped rings.

[0011] Based on the performance of existing ring rolling equipment and the theoretical methods for ring rolling, this invention proposes... Figure 1The rolling control method shown identifies the state of the ring rolling process, such as wall thickness, real-time outer diameter, and deformation trend, based on the pressure sensor data and displacement sensor data of the guide roller drive hydraulic cylinder. It further proposes critical indicators for the rigidity conditions of the irregular ring rolling process, such as the guide roller limit contact force and the corresponding limit radius deviation. Finally, it performs position-force feedback control on the guide roller position, cone roller speed, and core roller feed speed based on the guide roller hydraulic cylinder thrust and the real-time position of the ring, thereby realizing stable radial-axial rolling of large irregular rings.

[0012] The invention will now be further described with reference to the accompanying drawings:

[0013] like Figure 2 and Figure 3 As shown, the two sets of guide roller actuators are arranged symmetrically relative to the drive rollers; the installation dimensions and structural dimensions of the guide roller actuators are as follows. Figure 4 As shown.

[0014] This invention discloses a method for controlling the rolling stability of irregularly shaped rings based on position-force feedback, specifically including the following steps:

[0015] Step 1: In the irregular ring rolling forming device, two sets of guide roller actuators, #1 and #2, are symmetrically arranged relative to the drive rollers. The relative positions of guide roller actuator #1 are set as follows:

[0016] With the center of rotation of the drive roller as the origin, the axis of the drive roller as the z-axis, and the feed direction of the core roller as the x-direction, the y-axis is determined according to the right-hand rule.

[0017] The rotation point of the guide roller hydraulic cylinder is point G, the rotation point of the swing arm is point O, the connection point between the guide roller hydraulic cylinder and the swing arm is point B, and the installation position of the guide roller is point A; then: The coordinates of the point are , The coordinates of point G are , ;

[0018] The distance from point O to point G. The distance is from point O to point B. Let O be the distance from point A. The distance from point O to point B;

[0019] Step 2: Place the ring billet in the shaped ring rolling forming device, and use the displacement sensor installed in the shaped ring rolling forming device to obtain the real-time outer diameter of the ring billet. and the relative distance between the core roller and the drive roller. ;

[0020] Step 3: Based on the geometric figure formed by the positional relationship between the hydraulic cylinder, swing rod, guide roller and ring blank in the irregular ring rolling forming device, and combined with the force balance theory, formulas (1), (2) and (3) can be obtained; calculate the real-time thrust output of the No. 1 driving hydraulic cylinder according to formula (1). ; Calculate the real-time thrust output by hydraulic cylinder #2 according to formula (2) ; Calculate the contact force between guide roller #1 and the ring blank according to formula (3). ;

[0021] (1)

[0022] In equation (1), The diameter of the hydraulic cylinder. For hydraulic cylinder rod diameter, The pressure in the rodless chamber of hydraulic cylinder #1 is the pressure. For the rod chamber pressure of hydraulic cylinder #1, This refers to the effective area of ​​the rodless chamber in the hydraulic cylinder. This refers to the effective area of ​​the rod chamber of the hydraulic cylinder.

[0023] (2)

[0024] In equation (2), For the rodless chamber pressure of hydraulic cylinder #2, The pressure in the rod chamber of hydraulic cylinder #2;

[0025] (3)

[0026] In equation (3), This refers to the current actual effective length of the guide roller hydraulic cylinder. The radius of the drive roller, The radius of the guide roller, and The swing arm rotation Dot and The resultant force exerted by the bearing on the shaft diameter at the point of contact with the rotating joint is tangent to the friction circle. and They are respectively Dot and The radius of the friction circle at the rotating joint, which is related to the lubrication conditions of the guide roller mechanism;

[0027] Step 4: Consider the ring blank as a ring beam with the roll gap between the drive roller and the core roller and the roll gap between the two conical rollers as fixed supports. According to the beam bending theory, formulas (4) and (5) can be obtained; calculate the theoretical limit contact force of the guide roller on the ring blank according to formula (4). ; Calculate the theoretical limit radius deviation generated by the ring blank according to formula (5) ;

[0028] (4)

[0029] In equation (4), is the section modulus for bending of the ring-shaped billet. This represents the yield strength of the ring billet material at the rolling temperature. The distance from the neutral axis to the outer diameter of the ring blank. This is the effective lever arm length of the contact force on the ring component;

[0030] (5)

[0031] In equation (5), E is the elastic modulus of the ring material at the rolling temperature, and I is the moment of inertia of the ring section, which is related to the thickness and shape of the ring section.

[0032] Based on the geometric positional relationships of the components of the irregular ring rolling forming device:

[0033] Real-time wall thickness of ring billet The calculation formula is:

[0034] (6)

[0035] In equation (6), This represents the relative distance between the core roller and the drive roller. The radius of the drive roller, The radius of the lower end of the core roller;

[0036] Distance from the neutral axis to the outer diameter of the ring billet The calculation formula is:

[0037] (7)

[0038] The formula for calculating the moment of inertia I of the ring billet section is:

[0039] (8)

[0040] Section modulus of the ring blank The calculation formula is:

[0041] (9)

[0042] Step 5: Apply the theoretical ultimate contact force of the ring billet calculated in Step 4. Substituting into equation (3) transforms it into the theoretical limit thrust of the hydraulic cylinder. ;

[0043] according to , as well as The value of is used to calculate the adjustment parameter for adjusting the actual position of the hydraulic cylinder piston rod according to formula (10). ;

[0044] (10)

[0045] according to , as well as The value of is used to calculate the adjustment parameter of the actual speed of the adjusting cone roller according to formula (11). ;

[0046] (11)

[0047] Step 6: Based on the real-time outer diameter of the ring blank Adjustment amount of actual position of hydraulic cylinder piston rod And the geometric relationship formed by the relative positions of each component in the irregular ring rolling forming device, the adjustment parameters of the actual position of the hydraulic cylinder piston rod are calculated according to formula (12). Effective length of guide roller after hydraulic cylinder adjustment ;

[0048] (12)

[0049] The distance sensor built into the hydraulic cylinder measures the current actual effective length of the guide roller hydraulic cylinder. Adjust to the adjusted effective length Consistent, complete the hydraulic cylinder length adjustment;

[0050] Based on the real-time wall thickness of the ring blank Real-time outer diameter of ring billet And the geometric relationship formed by the relative positions of each component in the irregular ring rolling forming device, the actual speed adjustment parameter of the cone roll is calculated according to formula (13). Adjusted cone roller speed ;

[0051] (13)

[0052] In formula (13) To drive the linear speed of the roller; The distance between the mid-diameter of the cone roller apex; The semi-cone angle of the cone roller;

[0053] The current actual taper roller speed is measured by the built-in sensor. Adjust to match the adjusted cone roller speed Consistent, complete the cone roller speed adjustment;

[0054] Current actual feed speed of the core roller Adjust according to formula (14):

[0055] (14)

[0056] In equation (14), This is the preset theoretical feed speed of the core roller;

[0057] Step 7: Repeat steps 3 to 6 until the rolling process is complete.

[0058] Beneficial effects of the present invention

[0059] The present invention provides a method for rolling irregularly shaped rings based on position-force feedback. Addressing the instability problem in the radial-axial rolling process of large irregularly shaped rings, this method proposes a stability control method for rolling irregularly shaped rings based on pressure sensor data from the guide roller drive hydraulic cylinder and displacement sensor data. This method compensates for the insufficiency of the measuring roller not being able to reflect the ring state in time after the core roller is fed. Furthermore, based on the proposed instability conditions for irregularly shaped rings, the method adjusts the position of the guide roller and the speed of the tapered roller in real time according to the pressure signal from the guide roller hydraulic cylinder to achieve stable radial-axial rolling of large irregularly shaped rings. Attached Figure Description

[0060] Figure 1 Schematic diagram of rolling control for irregularly shaped rings based on position-force feedback

[0061] Figure 2 3D diagram of irregular ring rolling equipment and rolling process

[0062] Figure 3 Top view of the rolling process of irregularly shaped rings

[0063] Figure 4 Simplified diagram of stress analysis for ring rolling equipment

[0064] Figure 5 Schematic diagram of ring cross-section dimensions

[0065] Figure 6 Schematic diagram of instability adjustment during the rolling process of irregularly shaped rings

[0066] Figure 7 Schematic diagram of the effective length position-force control strategy for guide roller hydraulic cylinder

[0067] Figure 8 Schematic diagram of cone roller speed position-force control strategy

[0068] Figure 9 Schematic diagram of core roller feed speed position-force control strategy

[0069] In the diagram: 1-1# guide roller hydraulic cylinder, 2-1# swing arm, 3-1# guide roller, 4-irregular ring, 5-core roller, 6-drive roller, 7-2# guide roller hydraulic cylinder, 8-upper conical roller, 9-measuring roller, 10-lower conical roller, 11-2# guide roller, 12-2# guide actuator Detailed Implementation

[0070] The present invention will be further described in detail below with reference to the accompanying drawings and specific examples. The specific steps are as follows:

[0071] Step 1: As Figure 2 and Figure 3 As shown, in the irregular ring rolling forming device, two sets of guide roller actuators, #1 and #2, are symmetrically arranged relative to the drive rollers. Figure 4 As shown, the relative positions of the #1 guide roller actuators are set as follows:

[0072] With the center of rotation of the drive roller as the origin, the axis of the drive roller as the z-axis, and the feed direction of the core roller as the x-direction, the y-axis is determined according to the right-hand rule.

[0073] The rotation point of the guide roller hydraulic cylinder is point G, the rotation point of the swing arm is point O, the connection point between the guide roller hydraulic cylinder and the swing arm is point B, and the installation position of the guide roller is point A; then: The coordinates of the point are , The coordinates of point G are , ;

[0074] The distance from point O to point G. The distance is from point O to point B. Let O be the distance from point A. The distance from point O to point B;

[0075] Step 2: Place the ring billet in the shaped ring rolling forming device, and use the displacement sensor installed in the shaped ring rolling forming device to obtain the real-time outer diameter of the ring billet. and the relative distance between the core roller and the drive roller. ;

[0076] Step 3: Based on the geometric figure formed by the positional relationship between the hydraulic cylinder, swing rod, guide roller and ring blank in the irregular ring rolling forming device, and combined with the force balance theory, we have formulas (1), (2) and (3). Formula (1) calculates the real-time thrust output by the No. 1 driving hydraulic cylinder. ; Calculate the real-time thrust output by hydraulic cylinder #2 according to formula (2) ; Calculate the contact force between guide roller #1 and the ring blank according to formula (3). ;

[0077] (1)

[0078] In equation (1), The diameter of the hydraulic cylinder. The value is the hydraulic cylinder rod diameter, which is a parameter of rolling equipment. The data is shown in Table 1. The pressure in the rodless chamber of hydraulic cylinder #1 is the pressure. The pressure in the rod chamber of hydraulic cylinder #1 is a parameter of the rolling process, as shown in Table 2. This refers to the effective area of ​​the rodless chamber in the hydraulic cylinder. This refers to the effective area of ​​the rod chamber of the hydraulic cylinder.

[0079] (2)

[0080] In equation (2), For the rodless chamber pressure of hydraulic cylinder #2, The pressure in the rod chamber of hydraulic cylinder #2 is a parameter of the rolling process, as shown in Table 2.

[0081] (3)

[0082] In equation (3), This refers to the current actual effective length of the guide roller hydraulic cylinder. The effective lever arm of the hydraulic cylinder thrust; The effective lever arm of the contact force on the pendulum; The radius of the drive roller, The radius of the guide roller is shown in Table 1. The effective length of the guide roller hydraulic cylinder can be measured by a distance sensor built into the hydraulic cylinder, as shown in Table 2. and The swing arm rotation Dot and The resultant force exerted by the bearing on the shaft diameter at the point of contact with the rotating joint is tangent to the friction circle. and They are respectively Dot and The friction circle radius at the rotating joint is related to the lubrication conditions of the guide roller mechanism. Considering that the lubrication and installation conditions are good in this embodiment, the friction circle radius is taken as zero.

[0083] Step 4: Consider the ring billet as a ring beam with the roll gap between the drive roller and the core roller and the roll gap between the two conical rollers as fixed supports. The cross-section of the ring billet is as follows: Figure 5 As shown in the figure, D represents the depth of the groove. , , These represent the total heights of the upper, middle, and lower sections of the ring billet cross-section, respectively. The cross-sectional parameter values ​​for the ring billet are shown in Table 1. This represents the real-time wall thickness at the thick end of the ring blank section. This is the distance from the neutral axis of the ring blank to the relatively smooth edge.

[0084] According to the roll size and such Figure 4 The process parameters shown The real-time wall thickness of the thick end of the ring billet section is calculated according to formula (4). :

[0085] (4)

[0086] Calculate the distance from the neutral axis of the ring blank to the relatively smooth edge using formula (5). :

[0087] (5)

[0088] Further, the relevant mechanical parameters of the annular billet cross section can be obtained, wherein the moment of inertia I of the annular billet cross section is calculated according to formula (6):

[0089] (6)

[0090] Section modulus of the ring blank Calculate according to formula (7):

[0091] (7)

[0092] According to the beam bending theory, the theoretical limit contact force of the guide roller on the ring blank is calculated according to equation (8). ;

[0093] (8)

[0094] In equation (8), The section modulus of the ring blank is flexural strength. The yield strength of the ring billet material at the rolling temperature is approximately 66.5 MPa in the hot-rolled state of the aluminum alloy in this embodiment. This is the effective lever arm length of the contact force on the ring component;

[0095] like Figure 6 As shown, The limit radius deviation of the ring component under the action of the guide roller's ultimate contact force, satisfying the stiffness condition of the ring blank section, is calculated according to formula (9):

[0096] (9)

[0097] In equation (9), E is the elastic modulus of the ring material at the rolling temperature. In this embodiment, the elastic modulus of the aluminum alloy in the hot-rolled state is about 52.3 GPa.

[0098] Step 5: Apply the theoretical ultimate contact force of the ring billet calculated in Step 4. Substituting into the formula, it is converted into the theoretical ultimate thrust of the hydraulic cylinder. ;

[0099] like Figure 7 and Figure 8 As shown, in order to effectively control the position of the guide roller and the speed of the cone roller, according to , as well as The value is used to calculate the adjustment parameter for the actual position of the hydraulic cylinder piston rod according to formula (10). :

[0100] (10)

[0101] Based on formulas (1), (3), and (9) in this embodiment, we obtain , as well as ,because According to formula (10), we get .

[0102] according to , as well as The value of is used to calculate the adjustment parameter of the actual speed of the adjusting cone roller according to formula (11). :

[0103] (11)

[0104] Based on formulas (1), (3), and (9) in this embodiment, we obtain , as well as ,because According to formula (11), we get

[0105] ;

[0106] Step 6: Based on the real-time outer diameter of the ring blank Adjustment amount of actual position of hydraulic cylinder piston rod And the geometric relationship formed by the relative positions of each component in the irregular ring rolling forming device, the adjustment parameters of the actual position of the hydraulic cylinder piston rod are calculated according to formula (12). Effective length of guide roller after hydraulic cylinder adjustment :

[0107] (12)

[0108] The distance sensor built into the hydraulic cylinder measures the current actual effective length of the guide roller hydraulic cylinder. Adjust to the adjusted effective length Consistent, complete the hydraulic cylinder length adjustment;

[0109] Based on the real-time wall thickness of the ring blank Real-time outer diameter of ring billet And the geometric relationship formed by the relative positions of each component in the irregular ring rolling forming device, the actual speed adjustment parameter of the cone roll is calculated according to formula (13). Adjusted cone roller speed :

[0110] (13)

[0111] In equation (13), In this embodiment, to drive the linear speed of the roller, , The distance between the apex and the median diameter of the tapered roller. It is the half-cone angle of the cone roller.

[0112] The current actual taper roller speed is measured by the built-in sensor. Adjust to match the adjusted cone roller speed Consistent, complete the cone roller speed adjustment;

[0113] Considering the poor stiffness of aluminum alloys in the hot-rolled state, such as Figure 9 As shown, the core roller feed speed is set to take into account the deformation trend of the ring. The formula is adjusted as follows:

[0114] (14)

[0115] Based on formulas (1) and (3) in this embodiment, we obtain and ,because According to formula (14), we get .

[0116] In equation (14), This is the preset theoretical feed speed of the core roller.

[0117] Some relevant parameters in this embodiment are given in Tables 1 and 2:

[0118]

[0119]

[0120] In summary, this invention addresses the instability problem in the rolling process of aluminum alloy irregular rings by proposing a rolling method for irregular rings based on position-force feedback. Based on data from the pressure sensor and displacement sensor of the guide roller drive hydraulic cylinder, a stability control method for rolling irregular rings using guide roller hydraulic cylinder pressure signal feedback is proposed. Strategies for guide roller position, cone roller speed, and mandrel feed speed are established to compensate for the insufficient time for the measuring roller to reflect the ring state after the mandrel feeds.

[0121] Those skilled in the art will readily understand that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling the rolling stability of irregularly shaped ring parts based on position-force feedback, characterized in that, Includes the following steps: Step 1: In the irregular ring rolling forming device, two sets of guide roller actuators, #1 and #2, are symmetrically arranged relative to the drive rollers. The relative positions of guide roller actuator #1 are set as follows: With the center of rotation of the drive roller as the origin, the axis of the drive roller as the z-axis, and the feed direction of the core roller as the x-direction, the y-axis is determined according to the right-hand rule. Let point G be the rotation point of the guide roller hydraulic cylinder, point O be the rotation point of the swing arm, point B be the connection point between the guide roller hydraulic cylinder and the swing arm, and point A be the installation position of the guide roller. Then, the coordinates of point O are x. O y O The coordinates of point G are x G y G ; l OG Let l be the distance from point O to point G. OB Let l be the distance from point O to point B. OA Let l be the distance from point O to point A. AB The distance is from point O to point B; Step 2: Place the ring billet in the shaped ring rolling forming device, and use the displacement sensor installed in the shaped ring rolling forming device to obtain the real-time outer diameter R of the ring billet. t And the relative distance x between the core roller and the drive roller Xin ; Step 3: Based on the geometric figure formed by the positional relationship between the hydraulic cylinder, swing rod, guide roller and ring blank in the irregular ring rolling forming device, and combined with the force balance theory, we have formulas (1), (2) and (3); calculate the real-time thrust F1 output by the No. 1 driving hydraulic cylinder according to formula (1); calculate the real-time thrust F2 output by the No. 2 driving hydraulic cylinder according to formula (2); calculate the contact force F between the No. 1 guide roller and the ring blank according to formula (3). N ; In formula (1), D1 is the cylinder diameter of the hydraulic cylinder, d1 is the rod diameter of the hydraulic cylinder, P1 is the pressure of the rodless chamber of the No.1 driving hydraulic cylinder, P2 is the pressure of the rod chamber of the No.1 driving hydraulic cylinder, S1 is the effective area of ​​the rodless chamber of the hydraulic cylinder, and S2 is the effective area of ​​the rod chamber of the hydraulic cylinder. In equation (2), P1' is the rodless chamber pressure of the No. 2 driving hydraulic cylinder, and P2' is the rod chamber pressure of the No. 2 driving hydraulic cylinder; In equation (3), l BG The current actual effective length of the guide roller hydraulic cylinder; l OE The effective lever arm of the hydraulic cylinder thrust; FA R is the effective lever arm of the contact force on the pendulum; d R is the radius of the drive roller; g F is the radius of the guide roller; O and F B These are the resultant forces exerted on the shaft diameter by the bearings at the rotating joints at points O and B of the pendulum's rotation, respectively, and the direction of the resultant force is tangent to the friction circle; ρ O and ρ B These are the friction circle radii at the rotating joints at points O and B, respectively, which are related to the lubrication conditions of the guide roller mechanism. Step 4: Consider the ring blank as a ring beam with the roll gap between the drive roller and the core roller and the roll gap between the two conical rollers as fixed supports. According to the beam bending theory, we have formulas (4) and (5); calculate the theoretical limit contact force F of the guide roller on the ring blank according to formula (4). Nmax ; Calculate the theoretical limit radius deviation ΔR produced by the ring blank according to formula (5). max ; In equation (4), W z σ is the section modulus of the ring blank; s This represents the yield strength of the ring billet material at the rolling temperature. The distance from the neutral axis to the outer diameter of the ring blank; l N This is the effective lever arm length of the contact force on the ring component; In equation (5), E is the elastic modulus of the ring material at the rolling temperature; I is the moment of inertia of the ring section, which is related to the thickness and shape of the ring section. Step 5: Apply the theoretical ultimate contact force F of the ring billet calculated in Step 4. Nmax Substituting into equation (3), it is converted into the theoretical ultimate thrust F of the hydraulic cylinder. 1max ; According to F1, F 1max and ΔR max The value of ΔR is used to calculate the adjustment parameter ΔR, which determines the actual position of the hydraulic cylinder piston rod, according to formula (6). l ; According to F1, F 1max and ΔR max The value of ΔR is used to calculate the adjustment parameter ΔR for adjusting the actual speed of the cone roller according to formula (7). z ; Step 6: Based on the real-time outer diameter R of the ring blank t The actual position adjustment amount ΔR of the hydraulic cylinder piston rod l And the geometric relationship formed by the relative positions of each component in the irregular ring rolling forming device, the adjustment parameter ΔR of the actual position of the hydraulic cylinder piston rod is calculated according to formula (8). l The effective length l' of the guide roller after hydraulic cylinder adjustment BG (R t +ΔR l ); The distance sensor built into the hydraulic cylinder measures the current actual effective length l of the guide roller hydraulic cylinder. BG Adjust to match the adjusted effective length l' BG (R t +ΔR l (The two lines are consistent, and the length adjustment of the hydraulic cylinder is completed.) Based on the real-time wall thickness B of the ring blank t Real-time outer diameter R of ring billet t And the geometric relationship formed by the relative positions of each component in the irregular ring rolling forming device, the actual speed adjustment parameter ΔR of the cone roll is calculated according to formula (9). z Adjusted cone roller speed w' z (R t +ΔR z ); In equation (9), V d For the linear speed of the drive roller; S m A is the distance between the mid-diameter of the cone roller apex. c The semi-cone angle of the cone roller; The current actual cone roller speed w is measured by the built-in sensor. z Adjust to match the adjusted cone roller speed w' z (R t +ΔR z (The speed of the cone roller is adjusted to match the speed of the cone roller.) The current actual feed speed v of the core roller x Adjust according to formula (10): In equation (10), v' x This is the preset theoretical feed speed of the core roller; Step 7: Repeat steps 3 to 6 until the rolling process is complete.

2. The method for controlling the rolling stability of irregularly shaped rings based on position-force feedback according to claim 1, characterized in that, The real-time wall thickness B of the ring blank t The calculation formula is: B t =x Xin -R d -R x (11) In equation (11), x Xin R is the relative distance between the core roller and the drive roller. d R is the radius of the drive roller; x The radius of the lower end of the core roller is denoted as .

3. The method for controlling the rolling stability of irregularly shaped rings based on position-force feedback according to claim 2, characterized in that, The distance from the neutral axis to the outer diameter of the ring blank The calculation formula is: In equation (12), D is the groove depth; H1, H2, and H3 are the total heights of the upper, middle, and lower sections of the ring billet cross section, respectively.

4. The method for controlling the rolling stability of irregularly shaped rings based on position-force feedback according to claim 3, characterized in that, The formula for calculating the moment of inertia I of the annular blank section is:

5. The method for controlling the rolling stability of irregularly shaped rings based on position-force feedback according to claim 4, characterized in that: The section modulus W of the ring blank cross section z The calculation formula is:

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