Oil press control method and device, electronic equipment and readable storage medium

Abstract

The invention discloses an oil press control method and device, electronic equipment and a readable storage medium, and relates to the technical field of oil press control. A first relation curve between the rotating speed of a motor of an oil press and the linear speed of an oil cylinder of the oil press and a second relation curve between the linear speed of the oil cylinder and the running position of the oil cylinder are established; in the operation process of the oil cylinder, the target linear speed of the oil cylinder is determined according to the current operation position of the oil cylinder and the second relation curve, the target motor rotating speed is determined according to the target linear speed and the first relation curve, and the motor of the oil press is controlled according to the target motor rotating speed. Compared with a traditional motor control scheme, planning of the motion state of the oil cylinder is achieved, and therefore more accurate positioning control can be conducted on the oil cylinder in repeated operation of the oil cylinder.

Description

Technical Field

[0001] This invention relates to the field of hydraulic press control technology, and in particular to a hydraulic press control method, device, electronic equipment, and readable storage medium. Background Technology

[0002] With the increasing demand for precision machining in the manufacturing industry, the dynamic performance and positioning accuracy of the main hydraulic cylinder of a hydraulic press are facing higher requirements. Currently, conventional control methods (such as stopping the motor after reaching the target) and simple full-range proportional-integral-derivative (PID) regulation are difficult to achieve high repeatability positioning accuracy.

[0003] Improving the repeatability of the main cylinder of a hydraulic press is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] This invention provides a hydraulic press control method, device, electronic equipment, and readable storage medium to at least solve the problem of poor positioning accuracy of the main hydraulic cylinder in related technologies.

[0005] To solve the above-mentioned technical problems, the present invention provides a hydraulic press control method, comprising: Establish a first relationship curve between the motor speed of the hydraulic press and the linear velocity of the hydraulic cylinder of the hydraulic press; Establish a second relationship curve between the linear velocity of the hydraulic cylinder and the operating position of the hydraulic cylinder; During the operation of the hydraulic cylinder, the target linear velocity of the hydraulic cylinder is determined based on the current operating position of the hydraulic cylinder and the second relationship curve. The target motor speed is determined based on the target linear velocity and the first relationship curve; The motor of the hydraulic press is controlled according to the target motor speed.

[0006] To solve the above-mentioned technical problems, the present invention also provides a hydraulic press control device, comprising: The first building unit is used to establish a first relationship curve between the motor speed of the hydraulic press and the linear velocity of the hydraulic cylinder of the hydraulic press; The second construction unit is used to establish a second relationship curve between the linear velocity of the hydraulic cylinder and the operating position of the hydraulic cylinder; The first determining unit is used to determine the target linear velocity of the hydraulic cylinder based on the current operating position of the hydraulic cylinder and the second relationship curve during the operation of the hydraulic cylinder. The second determining unit is used to determine the target motor speed based on the target linear velocity and the first relationship curve; The control unit is used to control the motor of the hydraulic press according to the target motor speed.

[0007] To solve the above-mentioned technical problems, the present invention also provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of any of the above-mentioned hydraulic press control methods.

[0008] To address the aforementioned technical problems, the present invention also provides a readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of any of the above-described hydraulic press control methods.

[0009] This invention establishes a first relationship curve between the motor speed of the hydraulic press and the linear velocity of the hydraulic cylinder, and a second relationship curve between the linear velocity of the hydraulic cylinder and its operating position. During the operation of the hydraulic cylinder, the target linear velocity of the cylinder is determined based on its current operating position and the second relationship curve. The target motor speed is then determined based on the target linear velocity and the first relationship curve. The hydraulic press motor is controlled based on the target motor speed. By incorporating the linear velocity of the hydraulic cylinder into the motor control, compared to traditional motor control schemes, the planning of the hydraulic cylinder's motion state is achieved, enabling more precise positioning control of the hydraulic cylinder during repetitive operation. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is an architectural diagram of a hydraulic press system provided in an embodiment of the present invention; Figure 2 A flowchart of a hydraulic press control method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a second piecewise curve provided in an embodiment of the present invention; Figure 4 A schematic diagram of a second relationship curve provided in an embodiment of the present invention; Figure 5 A flowchart of speed compensation control provided for an embodiment of the present invention; Figure 6 A schematic diagram of a hydraulic press control interface provided in an embodiment of the present invention; Figure 7This is a schematic diagram of the structure of a hydraulic press control device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0012] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present invention.

[0013] It should be noted that, in the description of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. The terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0014] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] Figure 1 This is an architecture diagram of a hydraulic press system provided in an embodiment of the present invention.

[0016] The specific application environment architecture or specific hardware architecture on which the execution of the hydraulic press control method depends is described here.

[0017] like Figure 1 As shown in this embodiment of the invention, the hydraulic press system mainly includes an oil tank, a motor, an oil pump, hydraulic valves, and a hydraulic cylinder. During system operation, the motor drives the oil pump to draw hydraulic oil from the oil tank and pressurize it for output. The high-pressure oil flows through the hydraulic valves, whose direction, flow rate, and pressure are controlled by the valves, before entering the rod-side or rodless-side chamber of the hydraulic cylinder, pushing the piston rod to extend or retract. The oil on the other side of the cylinder is guided back to the oil tank via the hydraulic valves, forming a complete cycle. Under the pushing action of the hydraulic oil, the hydraulic cylinder moves downwards. During this downward movement, the cylinder compresses the aluminum material (or other easily extruded materials) placed in the mold. Under compression, the aluminum material's temperature rises and its fluidity improves. Under the dual action of mold shaping and hydraulic cylinder compression, the material ultimately forms a product in the required shape.

[0018] The present invention provides a hydraulic press control method. The method is described in detail below in conjunction with the execution flow of the hydraulic press control method.

[0019] Figure 2 This is a flowchart of a hydraulic press control method provided in an embodiment of the present invention.

[0020] like Figure 2 As shown, the hydraulic press control method provided in this embodiment of the invention may include S201~S205.

[0021] S201: Establish the first relationship curve between the motor speed of the hydraulic press and the linear velocity of the hydraulic cylinder.

[0022] In this embodiment of the invention, in order to incorporate the linear velocity of the hydraulic cylinder into the control of the motor, it is necessary to establish a first relationship curve between the motor speed and the linear velocity of the hydraulic cylinder.

[0023] Actual measurements revealed a relationship between the motor speed and the linear velocity of the hydraulic cylinder, but this relationship is not constant. To achieve more accurate control, in implementation S201, a first relationship curve is established between the motor speed and the linear velocity of the hydraulic cylinder. This can include dividing the motor speed range into at least two parts and determining the corresponding relationship curve for each part to obtain the first relationship curve. In other words, the motor speed can be segmented according to its magnitude, and the relationship curve for each segment can be obtained separately.

[0024] Taking the first relationship curve divided into two segments as an example, actual measurements show that the relationship between the motor speed and the linear velocity of the cylinder is relatively stable in the high-speed range of the motor. However, the relationship changes in the low-speed range of the motor.

[0025] In this embodiment of the invention, the first relationship curve may include a first segmented curve and a second segmented curve; the first segmented curve corresponds to the interval between the first speed of the motor and the second speed of the motor, and the second segmented curve corresponds to the interval between the second speed of the motor and the zero speed of the motor; the first speed is greater than the second speed, and the first speed is the motor speed when the cylinder is in the working position.

[0026] The relationship curves corresponding to each part are determined separately to obtain the first relationship curve, which may include: determining the first relationship between the motor speed and the linear velocity of the cylinder based on the oil pump displacement and cylinder diameter of the hydraulic press, and obtaining the first segmented curve; obtaining multiple sets of measured values ​​of motor speed and cylinder linear velocity within the speed range of the motor from the second speed to zero speed, and fitting the multiple sets of measured values ​​to obtain the second segmented curve; and using the first segmented curve and the second segmented curve as the first relationship curve.

[0027] For the first segmented curve, when the mechanical structure of the hydraulic press is determined (i.e., the pump displacement V is determined, and the cylinder diameter D is determined), the relationship between the motor speed and the linear velocity of the cylinder can be listed as follows: (1) in, This indicates the linear velocity of the hydraulic cylinder, expressed in mm / s. This indicates the oil pump displacement, expressed in ml / r. This indicates the motor speed, expressed in r / min. This indicates the cylinder diameter, in mm.

[0028] As can be seen, when the mechanical mechanism of the hydraulic press is determined, the linear velocity of the hydraulic cylinder... With motor speed Theoretically, they are directly proportional. Let's take the selection of a common 160-ton hydraulic press as an example. , ,but: (2) Assuming the motor in the system is at full speed The speed is 1700 r / min. Substituting this parameter into formula (2), we can calculate the linear velocity of the cylinder when the motor is at full speed. The linear velocity is 50.5 mm / s, but empirically, when the motor speed is low (e.g., less than 20% of full speed), the linear velocity of the hydraulic cylinder is... With the speed of the motor If it does not conform to formula (2), then it is necessary to learn the linear velocity through self-learning. With the speed of the motor The relationship.

[0029] Figure 3 This is a schematic diagram of a second piecewise curve provided in an embodiment of the present invention.

[0030] Assuming the dividing point between the first and second segmented curves is 20% of the motor's full speed, then given a motor speed of 20% of full speed (340 r / min), the measured cylinder linear velocity is 9.86 mm / s; given a motor speed of 19% of full speed (323 r / min), the measured cylinder linear velocity is 9.374 mm / s; and so on, multiple sets of measured values ​​for motor speed and cylinder linear velocity can be obtained. This allows for the fitting of the second segmented curve, as shown below. Figure 3 As shown, the second piecewise curve can be obtained as y = 0.0292x - 0.0683. Where y represents the linear velocity of the hydraulic cylinder, and x represents the motor speed. It should be noted that the above data and... Figure 3This is just one example.

[0031] After obtaining the above relationships, the linear velocity of the hydraulic cylinder at any motor speed between 0 r / min and 340 r / min can be calculated using linear interpolation. Alright.

[0032] Therefore, we can obtain the first segmented curve and the second segmented curve. For example, the first segmented curve shows the relationship between the linear velocity of the hydraulic cylinder and the motor speed when the motor speed is greater than 20% of the full speed, that is, greater than 340 r / min. It can be seen that the linear velocity of the hydraulic cylinder at each speed from 0 r / min to 1700 r / min is... In other words, when the linear velocity of the hydraulic cylinder is required... When the value is a certain value, the required motor speed n can be derived from this, thus allowing for the planning of the linear velocity of the hydraulic cylinder. In fact, it is about planning the motor speed n.

[0033] S202: Establish a second relationship curve between the linear velocity of the hydraulic cylinder and the operating position of the hydraulic cylinder.

[0034] To achieve precise control of the cylinder speed, in this embodiment of the invention, establishing a second relationship curve between the linear velocity of the cylinder and the operating position of the cylinder in S202 may include: dividing the operating position range of the hydraulic press into at least two parts, and determining the relationship curve corresponding to each part to obtain the second relationship curve.

[0035] Figure 4 This is a schematic diagram of a second relationship curve provided in an embodiment of the present invention.

[0036] like Figure 4 As shown, the second relationship curve may include a third segmented curve, a fourth segmented curve, a fifth segmented curve, and a sixth segmented curve; the third segmented curve, the fourth segmented curve, the fifth segmented curve, and the sixth segmented curve correspond to the position interval between the working position of the oil cylinder and the lower limit position of the oil cylinder, and are sequentially divided into segmented intervals according to the linear deceleration point, the creep start point, and the error band start point.

[0037] The relationship curves corresponding to each part are then determined to obtain the second relationship curve, which may include: determining the set cylinder linear velocity and the cylinder sliding distance at the starting point of the error band to determine the sixth segment curve; determining the maximum linear velocity of the cylinder as the linear velocity corresponding to the third segment curve; determining the fourth segment curve based on the maximum linear velocity, the set cylinder linear velocity, the position of the linear deceleration point, and the position of the crawling start point; using the set cylinder linear velocity as the linear velocity corresponding to the fifth segment curve; and using the third, fourth, fifth, and sixth segment curves as the second relationship curve.

[0038] Figure 4 An ideal linear velocity curve for a hydraulic cylinder is shown. As the cylinder reaches different positions, its ideal linear velocity can be determined. The entire process is divided into four segments.

[0039] When the hydraulic cylinder enters the feed position (e.g., at 300mm), but has not yet reached the linear deceleration point S1, the hydraulic cylinder... The linear velocity drops rapidly, and the motor generally runs at full speed during this section. According to formula (2), it can be known that... =0.0297×1700mm / s =50.5 mm / s.

[0040] When the cylinder reaches the linear deceleration point S1, it begins to decelerate linearly in a straight line with its position until it reaches the crawling start point S2. The distance from S1 to S2 is approximately 10mm.

[0041] Upon reaching the crawling start point S2, the hydraulic cylinder crawls slowly at an extremely low speed until it reaches the error band start point S3. The crawling speed for this segment is given by the user and is determined based on repeated testing experience. Setting it to 0.388mm / s is more suitable. At this time, the corresponding motor speed is 17 r / min, which is 1% of the full speed. The distance of the crawling section is also set by the user, usually 0.2mm. Therefore, the time spent in the crawling section is 0.2×1000 / 0.388ms=515ms. The distance of the crawling section cannot be set too short, otherwise the repeatability of the main oil cylinder will be unstable. It also cannot be set too long, otherwise the crawling time will be too long, affecting production efficiency and product die casting.

[0042] When the hydraulic cylinder reaches the error band start point S3, the motor stops. With neither the motor nor the hydraulic pump rotating, the cylinder is allowed to slide randomly until it reaches the target position. For example, if the target position is 530mm, and the allowable error is 0.01mm, a stop command is issued to the motor when the cylinder's position is greater than or equal to 529.99mm. After the cylinder reaches the target position, there is a delay in maintaining pressure, and the cylinder returns to its starting position to begin the next cycle of motion.

[0043] It should be noted that the above data and Figure 4 This is just one example.

[0044] S203: During the operation of the hydraulic cylinder, the target linear velocity of the hydraulic cylinder is determined based on the current operating position of the hydraulic cylinder and the second relationship curve.

[0045] During the operation of the hydraulic cylinder, the ideal linear velocity of the cylinder at its current operating position can be obtained according to the second relationship curve. By continuously controlling the cylinder in each control cycle, the ideal linear velocity of the cylinder in the current control cycle can be obtained in each control cycle.

[0046] S204: Determine the target motor speed based on the target linear velocity and the first relationship curve.

[0047] After obtaining the ideal linear velocity of the hydraulic cylinder, the target motor speed can be determined by consulting the first relationship curve, thereby enabling motor control.

[0048] However, the linear velocity planning of the hydraulic cylinder is based on an ideal situation where there is no resistance and no workpiece during the operation of the hydraulic cylinder. When the hydraulic cylinder encounters resistance and the motor speed is extremely low during operation, the hydraulic cylinder may not be able to continue to move downward. In this case, appropriate speed compensation can be considered.

[0049] In this embodiment of the invention, determining the target motor speed in S204 based on the target linear velocity and the first relationship curve may include: when the cylinder moves to a preset position, starting to determine the speed compensation value, and after obtaining the first motor speed based on the target linear velocity and the first relationship curve, obtaining the target motor speed based on the first motor speed and the speed compensation value.

[0050] Determining the speed compensation value may include: in the current control cycle, determining the speed compensation value for the current control cycle based on the error between the target operating position of the cylinder and the actual operating position of the cylinder in the current control cycle.

[0051] Furthermore, the steps for determining the target operating position of the hydraulic cylinder may include: obtaining the target operating position of the hydraulic cylinder in the current control cycle based on the target operating position of the hydraulic cylinder in the previous control cycle, the target linear velocity of the hydraulic cylinder in the previous control cycle, and the cumulative number of control cycles.

[0052] The speed compensation value can be calculated using the following formula: The target operating position of the current control cycle = the target operating position of the previous control cycle + the target linear velocity of the previous control cycle × the control cycle; Speed ​​compensation value = Kp × (target operating position of the current control cycle - actual operating position of the current control cycle).

[0053] In practical applications, the need to enable speed compensation can be determined by the position of the hydraulic cylinder. Specifically, it can receive parameters for a preset position set by the user, and speed compensation is enabled when the hydraulic cylinder automatically advances to the preset position.

[0054] Figure 5 A flowchart of a speed compensation control method provided in an embodiment of the present invention.

[0055] like Figure 5 As shown, the hydraulic cylinder is the controlled object, and the motor speed is compensated in each control cycle according to its actual operating position.

[0056] S205: Controls the motor of the hydraulic press according to the target motor speed.

[0057] In each control cycle, based on the calculated target motor speed, a command is sent to the electro-hydraulic servo drive to control the motor operation.

[0058] The hydraulic press control method provided in this invention establishes a first relationship curve between the motor speed and the linear velocity of the hydraulic cylinder, and a second relationship curve between the linear velocity of the hydraulic cylinder and its operating position. During the operation of the hydraulic cylinder, the target linear velocity of the hydraulic cylinder is determined based on its current operating position and the second relationship curve. The target motor speed is then determined based on the target linear velocity and the first relationship curve. The hydraulic press motor is controlled based on the target motor speed. By incorporating the linear velocity of the hydraulic cylinder into the motor control, compared to traditional motor control schemes, the method achieves planning of the hydraulic cylinder's motion state, thereby enabling more precise positioning control of the hydraulic cylinder during repetitive operation.

[0059] Through actual testing, the hydraulic press control method provided in this embodiment of the invention can achieve a repeatability accuracy of within ±0.01mm when the main cylinder of the hydraulic press moves downward.

[0060] Figure 6 This is a schematic diagram of a hydraulic press control interface provided in an embodiment of the present invention.

[0061] In practical applications, a hydraulic press control interface can be provided to users to display the current operating parameters of the hydraulic press system and receive parameters set by the user.

[0062] like Figure 6 As shown, the hydraulic press control interface can include status parameters such as the real-time position of the main cylinder, the real-time pressure of the main cylinder, and the real-time speed of the system. The hydraulic press control interface may also include parameters such as deceleration stroke, approximation stroke, cylinder creep speed, allowable error, stable distance, speed compensation ratio coefficient, motor full-speed, and the motor speed to cylinder speed coefficient.

[0063] Taking a four-column stretching machine (hydraulic press) as an example, its process requirement is a main hydraulic cylinder positioning accuracy of ±0.01mm. This equipment has one main hydraulic cylinder, and its positioning accuracy is within one micrometer during the downward pressing of materials to produce products. Using the hydraulic press control method provided in this embodiment of the invention, the speed reduction stroke can be set to 8mm, indicating... Figure 4 The distance from the linear deceleration point S1 to the lower limit (target position); the approximation stroke is set to 0.2mm, indicating... Figure 4The distance from the crawling start point S2 to the lower limit (target position); the hydraulic cylinder crawling linear velocity is set to 0.5 mm / s, representing the speed at which the hydraulic cylinder moves from the crawling start point S2 to the error band start point S3; the deceleration stroke is set to 0.01 mm, representing... Figure 4 The distance from the error band start point S3 to the lower limit (target position); the stable distance is set to 0, indicating that speed compensation is not enabled; the speed compensation proportional coefficient represents... Figure 5 The ratio Kp is used in the equation; the full-speed motor is set to 1700 r / min based on the motor characteristics; the ratio between the motor speed and the cylinder linear speed is set to 0.0297.

[0064] The algorithm for the full-range linear velocity planning of the hydraulic cylinder can be: F8 Speed ​​Compensation 1 ( b enable := b auto enable rActPos: GVL.ZG SSWZ rS1 linear deceleration point: -GVL.26 X0WZ-GVL.rFallDistance rs2_low-speed approach point:=GVL.Z6 XZ-GvL,rApproachDistance rS3_Error band start point:=GVL.26X00Z-GVL.rPermitError rVel_Fast Descending Speed:= GVL.ZG G]SD*GVL.rMotor Full Speed*GVL.rMotor Speed ​​to Cylinder Speed ​​Coefficient / 180.0, rVel_approximation speed:=GVL.rVelSlowove r_stable distance:=GVL.rstableDistance r target location:=GVL.2G X0Z, kP:=GVL.rP Velcom r-cylinder linear velocity table:=GL.r identifies the speed result r Motor tachometer:=GVL.r Inverter actual operating rate percentage Theoretical coefficient: -1 / GWL. Motor speed to cylinder speed coefficient. r output speed => r automatic speed planning bDone=> ); Here, 'b' indicates whether the algorithm is enabled, typically activated when the main cylinder enters the feed position; 'rActPos' represents the real-time position of the main cylinder; and 'rS1' represents the linear deceleration point. Figure 4The linear deceleration point S1 is equal to the lower limit of the main cylinder minus the deceleration stroke; rS2 represents the low-speed approximation point. Figure 4 The creep start point S2 is equal to the lower limit of the main cylinder minus the approximation stroke; rS3 represents the error band start point. Figure 4 The error band starting point S3 is equal to the lower limit of the main cylinder minus the allowable error; rVel_fast descent speed corresponds to Figure 4 In this context, Vmax represents the linear velocity of the master cylinder before deceleration begins; rVel_approximation velocity corresponds to... Figure 4 In the equation, V_crawling represents the linear velocity of the hydraulic cylinder during the crawling phase; r_stabilizing distance determines when speed compensation is activated, and the target position of the hydraulic cylinder minus this distance is the activation time of speed compensation; r_target position represents the target position of the main hydraulic cylinder; Kp represents... Figure 5 Kp in the formula is set by the user and represents the scaling factor during compensation; r_cylinder linear speed meter and r_inverter actual operating frequency percentage together represent the relationship between the cylinder linear speed and motor speed learned by the equipment at low speed; r_theoretical coefficient represents the proportional constant between motor speed and cylinder linear speed at high speed, which is the reciprocal of the coefficient 0.0297 mentioned in formula (2); r_output speed is the calculation result output by the function block and represents the final planned motor speed.

[0065] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method.

[0066] It should be noted that in the embodiments of the hydraulic press control methods of the present invention, some steps or features may be omitted or not executed. The division of hardware or software functional modules for ease of explanation is not the only implementation of the hydraulic press control methods provided in the embodiments of the present invention.

[0067] The various embodiments of the hydraulic press control method have been described in detail above. Based on this, the present invention also discloses a hydraulic press control device, electronic device and readable storage medium corresponding to the above method.

[0068] Figure 7 This is a schematic diagram of the structure of a hydraulic press control device provided in an embodiment of the present invention.

[0069] like Figure 7As shown, the hydraulic press control device provided in this embodiment of the invention may include: a first building unit 701, used to establish a first relationship curve between the motor speed of the hydraulic press and the linear velocity of the hydraulic cylinder; a second building unit 702, used to establish a second relationship curve between the linear velocity of the hydraulic cylinder and the operating position of the hydraulic cylinder; a first determining unit 703, used to determine the target linear velocity of the hydraulic cylinder based on the current operating position of the hydraulic cylinder and the second relationship curve during the operation of the hydraulic cylinder; a second determining unit 704, used to determine the target motor speed based on the target linear velocity and the first relationship curve; and a control unit 705, used to control the motor of the hydraulic press based on the target motor speed.

[0070] In this embodiment of the invention, the first building unit 701 establishes a first relationship curve between the motor speed of the hydraulic press and the linear velocity of the hydraulic cylinder of the hydraulic press, which may include: dividing the motor speed range into at least two parts and determining the relationship curve corresponding to each part to obtain the first relationship curve.

[0071] In this embodiment of the invention, the first relationship curve may include a first segmented curve and a second segmented curve; the first segmented curve corresponds to the interval between the first speed of the motor and the second speed of the motor, and the second segmented curve corresponds to the interval between the second speed of the motor and the zero speed of the motor; the first speed is greater than the second speed, and the first speed is the motor speed when the hydraulic cylinder is in the working position. The first construction unit 701 determines the relationship curves corresponding to each part to obtain the first relationship curve, which may include: determining the first relationship between the motor speed and the linear velocity of the hydraulic cylinder based on the pump displacement of the hydraulic press and the cylinder diameter, to obtain the first segmented curve; obtaining multiple sets of measured values ​​of the motor speed and the linear velocity of the hydraulic cylinder within the speed interval between the second speed and the zero speed of the motor, and fitting the multiple sets of measured values ​​to obtain the second segmented curve; using the first segmented curve and the second segmented curve as the first relationship curve.

[0072] In this embodiment of the invention, the second building unit 702 establishes a second relationship curve between the linear velocity of the hydraulic cylinder and the operating position of the hydraulic cylinder, which may include: dividing the operating position range of the hydraulic press into at least two parts, and determining the relationship curve corresponding to each part to obtain the second relationship curve.

[0073] In this embodiment of the invention, the second relationship curve may include a third segmented curve, a fourth segmented curve, a fifth segmented curve, and a sixth segmented curve; the third segmented curve, the fourth segmented curve, the fifth segmented curve, and the sixth segmented curve correspond to the position interval between the working position and the lower limit position of the hydraulic cylinder, and are sequentially segmented according to the linear deceleration point, the crawling start point, and the error band start point as the segment interval points. The second construction unit 702 determines the relationship curves corresponding to each part to obtain the second relationship curve, which may include: determining the set hydraulic cylinder linear velocity and the hydraulic cylinder sliding distance at the error band start point, and determining the sixth segmented curve; determining the maximum linear velocity of the hydraulic cylinder as the linear velocity corresponding to the third segmented curve; determining the fourth segmented curve based on the maximum linear velocity, the set hydraulic cylinder linear velocity, the position of the linear deceleration point, and the position of the crawling start point; using the set hydraulic cylinder linear velocity as the linear velocity corresponding to the fifth segmented curve; and using the third segmented curve, the fourth segmented curve, the fifth segmented curve, and the sixth segmented curve as the second relationship curve.

[0074] In this embodiment of the invention, the second determining unit 704 determines the target motor speed based on the target linear velocity and the first relationship curve. This may include: when the cylinder moves to a preset position, initiating the determination of the speed compensation value, and after obtaining the first motor speed based on the target linear velocity and the first relationship curve, obtaining the target motor speed based on the first motor speed and the speed compensation value; wherein, determining the speed compensation value may include: in the current control cycle, determining the speed compensation value for the current control cycle based on the error between the target operating position of the cylinder and the actual operating position of the cylinder in the current control cycle.

[0075] In this embodiment of the invention, the second determining unit 704 determines the target operating position of the cylinder, which may include: obtaining the target operating position of the cylinder in the current control cycle based on the target operating position of the cylinder in the previous control cycle, the target linear velocity of the cylinder in the previous control cycle, and the cumulative number of control cycles.

[0076] It should be noted that in the various embodiments of the hydraulic press control device provided in this invention, the division of units is only a logical functional division, and other division methods can be used. The connection between different units can be electrical, mechanical, or other connection methods. Separate units can be located in the same physical location or distributed across multiple network nodes. Each unit can be implemented in hardware or as a software functional unit. That is, according to actual needs, some or all of the units provided in this invention can be selected and corresponding connection or integration methods can be used to achieve the purpose of the solution in this invention.

[0077] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0078] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0079] like Figure 8 As shown, the electronic device provided in the embodiments of the present invention may include: a memory 801 for storing a computer program; and a processor 802 for executing the computer program to implement the steps of the hydraulic press control method provided in any of the above embodiments.

[0080] The processor 802 may include one or more processing cores, such as a 3-core processor or an 8-core processor. The processor 802 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 802 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 802 may integrate a Graphics Processing Unit (GPU) responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 802 may also include an Artificial Intelligence (AI) processor for handling computational operations related to machine learning.

[0081] The memory 801 may include one or more readable storage media, which may be non-transitory. The memory 801 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 801 is used to store at least the following computer program, which, after being loaded and executed by the processor 802, is capable of implementing the relevant steps in the hydraulic press control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 801 may also include an operating system and data, and the storage method may be temporary or permanent storage. The operating system may be Windows or other types of operating systems. The data may include, but is not limited to, the data involved in the aforementioned hydraulic press control method.

[0082] In some embodiments, the electronic device provided in this invention may further include a display screen, a power supply, a communication interface, an input / output interface, a sensor, and a communication bus.

[0083] Those skilled in the art will understand that Figure 8 The structures shown do not constitute a limitation on the electronic devices provided in the embodiments of the present invention, and may include more or fewer components than shown.

[0084] The electronic device provided in this embodiment of the invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the steps of the hydraulic press control method provided in the above embodiment, and the effect is the same as above.

[0085] This invention provides a readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the steps of the hydraulic press control method provided in any of the above embodiments.

[0086] The readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0087] For a description of the readable storage medium provided in the embodiments of the present invention, please refer to the above method embodiments, and its effect is the same as that of the hydraulic press control method provided in the embodiments of the present invention. The present invention will not repeat the details here.

[0088] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0089] The above provides a detailed description of a hydraulic press control method, device, electronic equipment, and readable storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the above embodiments are only intended to help understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. An oil press control method characterized by, The method comprises: establishing a first relationship curve between the motor speed of the oil press and the linear speed of the cylinder of the oil press; establishing a second relationship curve between the linear speed of the cylinder and the running position of the cylinder; during the running of the cylinder, determining the target linear speed of the cylinder according to the current running position of the cylinder and the second relationship curve; determining the target motor speed according to the target linear speed and the first relationship curve; controlling the motor of the oil press according to the target motor speed.

2. The oil press control method according to claim 1, characterized by, The method of establishing a first relationship curve between the motor speed of the oil press and the linear speed of the cylinder of the oil press comprises: dividing the speed interval of the motor into at least two parts, and determining the corresponding relationship curve of each part to obtain the first relationship curve.

3. The oil press control method according to claim 2, characterized by, The first relationship curve comprises a first segment curve and a second segment curve; the first segment curve corresponds to the interval between the first speed of the motor and the second speed of the motor, and the second segment curve corresponds to the interval between the second speed of the motor and the zero speed of the motor; the first speed is greater than the second speed, and the first speed is the motor speed when the cylinder is at the working position; the method of determining the corresponding relationship curve of each part to obtain the first relationship curve comprises: determining the first relationship between the motor speed and the linear speed of the cylinder according to the displacement of the oil pump and the cylinder diameter of the oil press to obtain the first segment curve; obtaining a plurality of measured values of the motor speed and the linear speed of the cylinder when the motor is in the speed interval from the second speed to zero speed, and fitting the second segment curve according to the plurality of measured values; the first segment curve and the second segment curve are taken as the first relationship curve.

4. The oil press machine control method according to claim 2, characterized in that, The method of establishing a second relationship curve between the linear speed of the cylinder and the running position of the cylinder comprises: dividing the running position interval of the oil press into at least two parts, and determining the corresponding relationship curve of each part to obtain the second relationship curve.

5. The oil press control method according to claim 4, characterized by, The second relationship curve comprises a third segment curve, a fourth segment curve, a fifth segment curve and a sixth segment curve; the third segment curve, the fourth segment curve, the fifth segment curve and the sixth segment curve correspond to the position interval between the working position of the cylinder and the lower limit position of the cylinder, and the segment interval points are linear deceleration points, crawling start points and error band start points in turn; the method of determining the corresponding relationship curve of each part to obtain the second relationship curve comprises: determining the set cylinder linear speed of the error band start point and the sliding distance of the cylinder to determine the sixth segment curve; determining the maximum linear speed of the cylinder as the linear speed corresponding to the third segment curve; determining the fourth segment curve according to the maximum linear speed, the set cylinder linear speed, the position of the linear deceleration point and the position of the crawling start point; taking the set cylinder linear speed as the linear speed corresponding to the fifth segment curve; The third segment curve, the fourth segment curve, the fifth segment curve and the sixth segment curve are taken as the second relationship curve.

6. The oil press machine control method according to claim 1, characterized in that, The target motor speed is determined according to the target linear speed and the first relationship curve. When the oil cylinder runs to a preset position, a speed compensation value is determined, and after a first motor speed is obtained according to the target linear speed and the first relationship curve, the target motor speed is obtained according to the first motor speed and the speed compensation value. The speed compensation value is determined according to an error between a target running position of the oil cylinder and an actual running position of the oil cylinder in a current control period. The target running position of the oil cylinder is determined according to an error between a target running position of the oil cylinder and an actual running position of the oil cylinder in a current control period.

7. The oil press machine control method according to claim 6, characterized in that, The target running position of the oil cylinder is determined according to a target running position of the oil cylinder in a previous control period, the target linear speed of the oil cylinder in the previous control period and a cumulative number of control periods. The target running position of the oil cylinder is determined according to a target running position of the oil cylinder in a previous control period, the target linear speed of the oil cylinder in the previous control period and a cumulative number of control periods.

8. An oil press control device, characterized by The first relationship curve between the motor speed of the oil press and the linear speed of the oil cylinder of the oil press is established by a first establishing unit. The second relationship curve between the linear speed of the oil cylinder and the running position of the oil cylinder is established by a second establishing unit. The target linear speed of the oil cylinder is determined according to the current running position of the oil cylinder and the second relationship curve during the running of the oil cylinder by a first determining unit. The target motor speed is determined according to the target linear speed and the first relationship curve by a second determining unit. The motor of the oil press is controlled according to the target motor speed by a control unit. The computer program is stored in the memory.

9. An electronic device, comprising: The computer program is executed by the processor to realize the steps of the oil press control method. The computer program is stored in the readable storage medium, and the computer program is executed by the processor to realize the steps of the oil press control method. ​ 10. A readable storage medium, characterized by, ​

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