Research On Electro-hydraulic Proportional Cooperative Control System For Servo Blanking Device Of Parallel Spinning Machine

With the development of heavy-duty,large-scale and economical launch vehicles,the overall spinning technology for large-scale aerospace thin-walled rotary components such as the bottom of the rocket storage tank has become a big challenge for China aerospace manufacturing.In order to suppress the occurrence of slab edge wrinkles and other failure problems under vertical strong spinning process,a servo blanking device with adjustable blanking height and diameter is designed for the parallel spinning machine.In order to achieve the desired blanking effect,the electro-hydraulic proportional cooperative control system of this device put high demands on tracking accuracy of single cylinder,Synchronous accuracy between two associated cylinders,cooperative deviation accuracy between blank holders and robustness under unknown disturbances.Therefore,research on the servo blanking device for parallel spinning machine will be of great significance to the aerospace manufacturing and the control technology.The main research contents of this paper are as follows:the background and significance of research is set forth,and the development of spinning forming,spinning quality controling,electrohydraulic proportional control systems,and collaborative control systems is investigated.According to the structure of the parallel spinning machine and requirements for spinning failure suppression,the mechanical structure design of the servo blanking device is completed,then its working principle introduction,main component selection,hydraulic control system design and electric control system design is completed.Combining the three basic equations of the electro-hydraulic control system,the state space expression of the valve-controlled hydraulic cylinder position control system is established.Through theoretical analysis of the load coupling,the mathematical model of dual-cylinder position synchronization control system for single blank holder is established,whose mathematical models built in MATLAB / Simulink are verified by comparison with the simulation model built in Sim Hydraulics.Then the cooperative control scheme of the device is designed according to the cooperative control requirements.To dealing with the influence of system nonlinearity,internal parameter changes,and unknown disturbances on the system control accuracy and robustness in the dual-cylinder position synchronization control system,an adaptive sliding mode synchronous controller based on nonlinear disturbance observer is proposed.Then the controller is simulated in MATLAB / Simulink,finally its superiority is verified by comparation with four different controller combinations.In order to improve the accuracy of the coordinated position deviation between blank holders,a single neuron PID position deviation compensator based on particle swarm optimization is proposed.The controller is verified in MATLAB / Simulink by comparing with conventional PID deviation compensator and single neuron PID deviation compensator without parameter adjustment.The overall cooperative control system of the servo blanking device is further built.The simulation results show that the overall cooperative controller designed in this paper can meet the high-precision position tracking and strong robustness requirement under the condition of continuous external disturbance and internal parameter changes.Finally,a prototype of the servo blanking device was built,and the hardware construction,the software development of the electrical control system was completed.Then the prototype debugging is carried out,which laid the foundation for the motion control of servo blanking device and overall spinning experiment of parallel spinning machine.