International Journal of Emerging Technology & Research

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1 International Journal of Emerging Technology & Research Simulation Research About Synchronous Control System On Four-Column Hydraulic Press LIU Fei, WU Jian-Min, YANG Jin-Ye, XI Chuan-Long School of Mechanical Engineering, Shanghai University Of Engineering Science, Shanghai, China Abstract In this paper, the main researches is the double hydraulic cylinder synchronization for four-column hydraulic press. Set up a system dynamics model of digital valve control hydraulic cylinder motion based on AMESim /Simulink, use of the classic PID control algorithm, designs and realizes four-column hydraulic press synchronous movement of the control system. Control system adopts the master-slave control method, take the active cylinder displacement for tracking object in a synchronous system, to ensure that the two cylinder synchronization accuracy in motion. Four-column hydraulic press is shown in Fig. 1. Keywords: Double Hydraulic Cylinder Synchronization, AMESim /Simulink, Digital Valve, Master-Slave Control. 1. Introduction The so-called synchronization is based on more than two or more devices to a common time for reference,when two or more devices to work together and have a precise time requirements, so need a synchronization control between them [1]. The synchronization of multiple devices work is very common in engineering systems, hydraulic or electric motor driven synchronous work, Such as driven multi-cylinder hydraulic press, mill pressure systems, elevators, etc; Multi-axis synchronous movement system, Such as NC machine tools, robots, etc. so far, hydraulic technology has been very widely used, Some of them need multi-cylinder synchronization control in hydraulic system, such as hydraulic press, because in the work due to the load, the manufacturing precision and friction caused by the influence of such factors as multiple cylinders are not synchronized [2]. To do this, in this paper, the duplex synchronous control was researched as an example. 2. Four-Column Hydraulic Press Four-column hydraulic power plant adopts hydraulic system, The actuators using two single acting piston hydraulic cylinder, the cylinder of hydraulic cylinder fixed on the upper beam, the piston rod connected to the activity beam. Fig.1 Four-column hydraulic press There are many factors lead to two hydraulic cylinders are not synchronized:(1) Two hydraulic cylinder manufacturing precision is error;(2) There is friction between the activity and the support activities;(3) The surface of the processed parts uneven;(4) Some of the parameters of the hydraulic system is not fixed, such as leakage coefficient. 3. Working principle of the synchronous The working principle of four-column hydraulic press as shown in Fig. 2, three four-way electromagnetic directional valve 1 can change the flow of hydraulic oil according to the requirement of the job, to control the hydraulic cylinder 7, 10 thus drive the activity beam of up and down. Digital valve 2, 4 to control flow to ensure that the hydraulic cylinder motion synchronization. Digital valve 2 only accepts displacement signal, digital valve 4 not only Copyright reserved by IJETR (Impact Factor: 0.997) 42

2 accepts the displacement signal but also accepts the position error signal from hydraulic cylinder 7, 10, To ensure that the hydraulic cylinder 7, 10 synchronous movement. Four-column hydraulic press duplex synchronous control using master-slave control strategy, can to a great extent, to eliminate or restrain the influence of unfavorable factors, it can improve the synchronization precision of the two hydraulic cylinder movement. Master-slave synchronization control is one of the hydraulic cylinder displacement output for the ideal output, other hydraulic cylinder to track the selected ideal output and achieve synchronous drive [3-4]. The control principle is shown in Fig Introduce Simulation Software and Interface Settings 4.1 Introduce Simulation Software AMESim (Advanced Modeling Environment for Performing Simulation of Engineering Systems) is the French IMAGINE company in 1995 launched a new advanced modeling and simulation software. AMESim software can provide engineering personnel with a convenient platform for the engineering design system, it integrated procession of machinery, electricity and magnetism, hydraulic and pneumatic components etc and AMESim also provides many software interface, it can undertake joint simulation with Matlab and ADAMS software. Simulink is a software that based on the Matlab platform, It based on the Matlab powerful computing ability, easy to engineering personnel to establish control system object model. But Matlab can not effectively deal with algebraic loop problem, so the simulink is often not high efficiency [5]. 4.2 Interface Setting (1)Variable Set [6-7], Variable set is divided into user set and environment set. First, the user Set: control panel--system--advanced system Settings--user variables, sets up HOME values is the AMESim installation directory, MATLAB values is the installation directory, the value of PATH is D: \R2011b\bin\win32. Secondly, sets the system variable, the value of AME is the AMESim installation directory. (2) Choose VC+ + as editor. 1-Electromagnetic Directional Valve;2,4-Digital Valve; 3,5-Check Valve;6,9-Pilot Operated Check Valve; 7,10-hydraulic cylinder;8,11-grating Ruler Fig.2 Working Principle of the Synchronous 5. Build Simulation Model In order to facilitate analysis and improvements to the system, Using AMESim and Simulink software, build the four-column hydraulic press duplex synchronous control simulation model, based on literature [8], combined with synchronous system schematic diagram, we can build simulation model just as Fig. 4, Fig. 5. AMESim system main parameters are setted: The overflow valve opening pressure is 31MPa; Pump delivery is 160ml/r, the speed of the pump Displacement sensor is 1000r/min; The port flow velocity of electromagnetic directional valve is 100L/min; Pressure reducing valve valve core quality is 0.12Kg, throttle aperture is 0.8mm, The relief valve spring stiffness is 5Kfg, the diameter of the pressure reducing valve valve core is 30mm; Throttle valve core equivalent mass is 0.04Kg, The spring stiffness of throttle valve is 18Kfg; The hydraulic cylinder inside diameter is 350mm, The piston diameter is 245mm, The piston's trip is 2m. Fig.3 Master-Slave Control Principle Diagram Copyright reserved by IJETR (Impact Factor: 0.997) 43

3 6. Control Algorithm Research Nowadays, the PID controller is the most commonly used control algorithm, PID control is applicable to most of the control system, the algorithm is simple, reliable and strong robustness [9]. The commonly used PID control system principle block diagram is shown in Fig. 6, The control law is: In the formula: is the controller output signal; is deviation value; is proportionality coefficient; is integral time constant; is differentiating time constant. Fig. 4 Synchronous AMESim Simulation Model Fig. 5 Synchronous Simulink Simulation Model Copyright reserved by IJETR (Impact Factor: 0.997) 44

4 Fig. 6 the Principle Diagram of the PID Control By running the simulation, As can be seen from the Fig. 7 and Fig. 8 master-slave hydraulic cylinder displacement curve of the basic coincidence, In about 20 seconds or so two hydraulic cylinder at the same time run to the terminal 2000 mm, In the process of movement maximum error of two hydraulic cylinder displacement appeared in 11 seconds, the absolute value of error is m, completely satisfy the requirement of the four-column hydraulic press movement control. 7. Simulated Analysis Fig. 7 the Displacement Curve Fig. 8 the Displacement Error Copyright reserved by IJETR (Impact Factor: 0.997) 45

5 8. Conclusions In view of the four-column hydraulic synchronous system, its composition is complex, The whole process of conventional mathematical modeling can not accurately describe the system dynamic characteristics, in the paper use AMESim and Simulink software has set up a joint simulation platform for the synchronization system. Adopt the method of AMESim software associated with Simulink simulation, obtained the displacement and displacement difference, examined the impact of each link on the synchronization control also. Simulation results show that the control algorithm can well satisfy the four column hydraulic press system requirements for synchronization accuracy and stability. Dual-Cylinder Sychronzition Control Based on IPC", Chinese Hydraulics & Pneumatics, No. 5, 2012, pp [9] JIN Kai, "The Research of Hydraulic and Control Technology of Die Casting under Constant Flow Rate Dumping Pouring", M.S. thesis, Mechanic and Electronic Engineering, Central South University, Changsha, China,2012. Acknowledgments The authors would like to thank the teacher puts forward valuable suggestions in the writing process and the school s lab conditions to this research. References [1] MEI Zhi-song, JIAO Xiao-hong, LIU Xiao-fei, "Robust Synchronization Control by Output Feedback for Dual-cylinder Electro-hydraulic Drive Lift System", Machine Tool & Hydraulics, Vol. 39, No. 19, 2011, pp [2] HU Ai-min, "Simulation Analysis of Synchronization Control for Hydraulic Lift Stage Based on AMESim/Simulink", Coal Mine Machinery, Vol. 28, No. 12, 2007, pp [3] GUAN Guo-dong, "Research on Control Method of Hydraulic Forging Machine System", M.S. thesis, Institute of electrical and automation engineering, Tianjin University, Tianjing, China, [4] CHEN Yong-xian, XU Zhi-pei, "Synchronous Simulation on Longitudinal Oscillation Loading System of Bridge Bearing Test Machine based on AMESim and Simulink", Engineering & Test, Vol. 49, No. 2, 2009, pp [5] SUN Yan-shi, JIN Bao-quan, XIONG Xiao-yang, "Simulation of Cylinder Servo Position System Controlled by Proportional", Fluicl Power Transmission and Control, No. 4, 2009, pp [6] JIANG Ling-ling, ZHANG Jun-jun, "Interface and Application Research United Simulation Technique Based on AMESim and Matlab/Simulink", Machine Tool & Hydraulics, Vol. 36, No. 1, 2008, pp [7] CHEN Hong-liang, LI Hua-cong, "Research on Application and the Interfacial Technology of AMESim-Matlab/Simulink Co-simulation", Fluicl Power Transmission and Control, No.1, 2006, pp [8] ZHANG jun-ling, CAO Hai-yan, LI Li-yun, ZHANG Yan-xun, ZHANG Zhi-ping, "Simulation and Experiment of Copyright reserved by IJETR (Impact Factor: 0.997) 46

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