冲压机床液压控制系统设计
冲压机床液压控制系统设计,冲压,机床,液压,控制系统,设计
南京理工大学泰州科技学院毕业设计(论文)任务书系部:机械工程系专 业:机械工程及自动化学 生 姓 名:陆辉学 号:05010127设计(论文)题目:冲压机床液压控制系统设计起 迄 日 期:2009年3 月 09 日 6 月 14日设计(论文)地点:南京理工大学泰州科技学院指 导 教 师:张卫专业负责人:龚光容发任务书日期: 2009 年 2 月 26 日任务书填写要求1毕业设计(论文)任务书由指导教师根据各课题的具体情况填写,经学生所在专业的负责人审查、系部领导签字后生效。此任务书应在第七学期结束前填好并发给学生;2任务书内容必须用黑墨水笔工整书写或按教务处统一设计的电子文档标准格式(可从教务处网页上下载)打印,不得随便涂改或潦草书写,禁止打印在其它纸上后剪贴;3任务书内填写的内容,必须和学生毕业设计(论文)完成的情况相一致,若有变更,应当经过所在专业及系部主管领导审批后方可重新填写;4任务书内有关“系部”、“专业”等名称的填写,应写中文全称,不能写数字代码。学生的“学号”要写全号;5任务书内“主要参考文献”的填写,应按照国标GB 77142005文后参考文献著录规则的要求书写,不能有随意性;6有关年月日等日期的填写,应当按照国标GB/T 74082005数据元和交换格式、信息交换、日期和时间表示法规定的要求,一律用阿拉伯数字书写。如“2009年3月15日”或“2009-03-15”。毕 业 设 计(论 文)任 务 书1本毕业设计(论文)课题应达到的目的:通过本课题旨在让学生了解冲压机床液压控制系统的设计方法,并运用AMEsim软件对液压控制系统进行数字建模与动态仿真,帮助企业实现对冲压机床液压系统的优化。通过该课题可以培养学生解决实际问题的能力,提高学生综合应用能力和独立工作能力,为学生最终走向工作岗位打下基础。2本毕业设计(论文)课题任务的内容和要求(包括原始数据、技术要求、工作要求等):本课题针对企业需求,首先研究3150KN四柱式冲压机床液压控制系统的组成,进而基于AMESim进行冲压机床液压控制系统设计并对关键部件进行数字建模仿真,并完成动态仿真实验,实现帮助企业实现冲压机床液压系统优化的目的。原始数据具体要求如下:3150KN液压机基本参数为:公称力:3150KN,顶出力:630KN,液体最大工作压力:25MPa,滑块行程:800mm,顶出行程:300mm,开口高度:1250mm,工作台面有效尺寸左右前后:基型11201120mm2技术要求具体要求如下:滑块行程速度:快速下行V1 150mm/s,慢速下行V2 25mm/s,工作V310mm/s,回程V4 80mm/s,顶缸顶出及退回速度V5 50mm/s工作要求具体要求如下:1) 对3150KN四柱式液压控制系统进行需求分析并进行总体设计;2) 进行机床液压控制系统系统的详细设计,计算并确定液压系统各部分的尺寸,其中主要包括油缸尺寸和液压泵规格的确定和各个阀的选型;3) 运用AMESim软件对所设计的机床液压控制系统进行仿真调试,解决换向压力冲击大和回程速度慢的问题;4) 按要求提供设计文档;5) 毕业设计论文。毕 业 设 计(论 文)任 务 书3对本毕业设计(论文)课题成果的要求包括毕业设计论文、图表、实物样品等:1. 机床液压控制系统图及仿真程序2. 毕业设计论文4主要参考文献:1 郭成,储家佑,等. 现代冲压技术手册M. 北京: 中国标准出版社,2005.2 程燕军,柳舟通,等. 冲压与塑料成型设备M. 北京: 科学出版社,2005.3 李永堂,雷步芳,高雨茁. 液压系统建模与仿真M. 北京: 冶金工业出版社,2003.4 张利平. 液压控制系统及设计M. 北京:化学工业出版社,2006.5 李华聪,李吉. 机械/液压系统建模仿真软件AMEsimJ. 计算机仿真, 2006,(12): 294-298.6 王平, 叶晓苇. 冲床加工设备及自动化M. 武汉:华中科技大学出版社,2006.7 俞新陆,杨津光. 液压机的结构与控制M. 北京:机械工程出版社,1997.8 俞新陆. 液压机的设计与应用M. 北京: 机械工业出版社, 2006.9 付永领,祁晓野. AMEsim系统建模和仿真从入门到精通M. 北京:北京航天航空大学出版社,2006. 10 苏东海,于江华.液压仿真新技术AMEsim及应用J.机械.2006,(11):35-37 11 卢长耿, 李金良. 液压控制系统的分析与设计M. 北京:煤炭工业出版社, 1991.12 刘海丽,李华聪.液压机械系统建模仿真软件AMEsim及其应用J.机床与液压:2006,(6):124-126.13 边海岸, 戴双献. 四柱式万能液压机液压系统原理研究J.中国机械工程师, 2007, (7): 92-93.毕 业 设 计(论 文)任 务 书5本毕业设计(论文)课题工作进度计划:起 迄 日 期工 作 内 容2009年3月9 日 3 月29日3月30日4 月12 日4月13日 4 月 27日4月28日5 月 16日5月17日5 月 31日6月1 日6 月 5 日完成外文资料翻译、文献综述和开题报告完成3150KN四柱式冲压机床液压控制系统总体方案,设计计算并确定液压系统各部分的尺寸基于AMESim进行冲压机床液压控制系统数字建模完成动态仿真实验,解决换向压力冲击大和回程速度慢的问题完成毕业论文,准备毕业答辩论文答辩所在专业审查意见:负责人: 年 月 日系部意见:系部主任: 年 月 日mented in the AMESim simulation tool. Body and joint components are the basic components 1569-190X/$ - see front matter C211 2005 Elsevier B.V. All rights reserved. * Corresponding author. Tel.: +33 4 72 43 85 58. E-mail address: wilfrid.marquis-favreinsa-lyon.fr (W. Marquis-Favre). Simulation Modelling Practice and Theory 14 (2006) 2546 of this library. Due to the library philosophy requirements, the mathematical models of the components have required a generic vector calculus based formulation of the constraint equa- tions. This formulation uses a set of dependent generalized coordinates. The dynamics equa- tions are obtained from the application of JourdainC213s principle combined with the Lagrange multiplier method. The body component mathematical models consist of dierential equations in terms of the dependent generalized coordinates. The joint component mathematical models are based on the Baumgarte stabilization schemes applied to the geometrical, kine- matic and acceleration constraint equations. The Lagrange multipliers are the implicit solution of these Baumgarte stabilization schemes. The first main contribution of this paper is the expression of geometrical constraints in terms of vectors and their exploitation in this form. The second important contribution is the adaptation of existing formulations to the AMESim philosophy. C211 2005 Elsevier B.V. All rights reserved. A planar mechanical library in the AMESim simulation software. Part I: Formulation of dynamics equations Wilfrid Marquis-Favre * , Eric Bideaux, Serge Scavarda Laboratoire dAutomatique Industrielle, Institut National des Sciences Appliquees de Lyon, Bat. St Exupery, 25, avenue Jean Capelle, F-69621 Villeurbanne Cedex, France Received 25 March 2003; received in revised form 17 December 2004; accepted 8 February 2005 Available online 17 March 2005 Abstract This paper presents the mathematical developments of a planar mechanical library imple- doi:10.1016/j.simpat.2005.02.006 domains. One can now carry out modeling, analysis and simulation for systems con- sisting of pneumatic, powertrain, hydraulic resistance, thermal, electromagnetic and 26 W. Marquis-Favre et al. / Simulation Modelling Practice and Theory 14 (2006) 2546 cooling components for instance. The restriction to only one-dimensional motion for the mechanical components has motivated the development of a two-dimensional mechanical library. Keywords: AMESim; Planar mechanics; Dynamics equations; Constraint equations; Lagrange multi- pliers; Baumgarte stabilization 1. Introduction This paper, organized in two parts, presents a new library for the simulation tool AMESim 2. The first part is dedicated to the theoretical developments of the library. The second part shows the composition of the library as it was primarily implemented in AMESim and illustrates it with an application example of a seven-body mechanism. This library proposes components belonging to the planar mechanical domain. The objective with this library was not to compete with multi- body system software tools that are better adapted to this domain. The objective was more to enlarge the range of industrial applications capable of being treated by AMESim. From a theoretical point of view the challenge of implementing this library was to fit existing mechanical formulations to the inherent requirements of AMESim philosophy. The solution has been found by adapting the dynamic equa- tions expressed from JourdainC213s principle and the Lagrange multiplier method together with BaumgarteC213s stabilization. Also a generic feature of the formulation has been researched over the library components (bodies and joints) and one key contribution of this paper is concerned with this generic feature. Basically the formu- lation consists of expressing the geometric constraints associated with joints in terms of vectors and carrying out the developments of this form. The result is the set up, for kinematic and acceleration constraints, of a unique expression that fits every joint presented in the library. The generic feature of the formulation proposed thus enables the derivation of joint contraints to be systematized. One can then imagine a new joint with its corre- sponding vector constraint and derive straightforwardly the corresponding mathe- matical model by applying the proposed formulation. Also, in the context of predefined component models, the given formulation clearly shows the frontiers of the dierent mathematical models in terms of inputs and outputs. Therefore it also helps to define in which models output equations must be implemented. Also, the formulation proposed intrinsically enables closed loop structures to be dealt with. AMESim (for Advanced Modeling Environment for performing Simulations) is organized in component libraries. The components, represented by symbolically technologically suggested icons, can be interconnected exactly like the system under study. AMESim was first applied to electrohydraulic engineering systems with simple one-dimensional mechanical systems (like inertia, springs, and dampers in transla- tion or in rotation). It recently opened its libraries to a variety of other component ally reduced and a number of constraints are a priori symbolically eliminated. Like- W. Marquis-Favre et al. / Simulation Modelling Practice and Theory 14 (2006) 2546 27 wise, tools based on bond graph (e.g. 20Sim 1 or MS1 18) can deal with multibody systems in a pluridisciplinary context (e.g. 4,7). The essential feature of bond graph language is its ability to describe the energy topology of a model at an acausal level. This enables all the model variables to be globally assigned and all the equations to be globally organized. This also eliminates superfluous dependencies of the multi- body models. Section 2 presents an overview of some multibody codes and object-oriented tools, as well as the environmental requirements of AMESim. These requirements have some implications on how the 2D library is built. Section 3 details the theoret- ical developments that enabled the mathematical models of the library components to be set up. Section 4 concludes this first part. 2. Constraints of AMESim library philosophy After a brief overview of multibody code principles and some object-oriented tools, a presentation of AMESim requirements is given. Concerning multibody codes a state of the art is given by 23. Details are not reproduced here and readers are referred to this book for a more profound presen- tation. Although more than a decade has passed and certain tools are no longer developed and others have changed, this state of the art book gives a good idea of the main principles that can be used as a basis for multibody codes. Also this over- view enables the library proposed to be positioned with respect to these codes. There are dierent approaches for writing dynamic equations. The approaches most repre- sented in multibody codes are, the NewtonEuler equations applied to each body, the NewtonEuler equations applied to sets of bodies, LagrangeC213s equations and KaneC213s equations 13,14. The variables, in whose terms the dynamic equations are written, are either absolute coordinates or relative coordinates. Also supplementary methods are used for reducing the index of the DierentialAlgebraic Equations. The principal ones are the coordinate partitioning method, the projection matrix method, the Baumgarte stabilization and the penalty formulation 9. The first two methods aim at working with a set of independent generalized coordinates while the Baumgarte stabilization enables the constraints, together with the dierential equations, to be handled and the penalty formulation increases the dierential sys- tem order by introducing extra dynamics into the model. In the domain of the object-oriented tools to which AMESim may be attached, certain enable multibody systems to be treated with a dierent approach to the mod- elling. For instance Dymola 21 is, like AMESim, based on well-identified techno- logical components in a pluridisciplinary context but it sets up the mathematical model in a dierent way. Basically each component model consists of equations not oriented in terms of variable assignments nor organized a priori. Then, at the component connection stage, all the mathematical models are gathered in an implicit form and the compilation carries out the variable assignments and the organization of the equations in a consistent manner. Thus the order of the whole model is glob- It is now important to show the key features of AMESim to justify how the planar mechanical library has been implemented. Its feature oriented towards engineering systems and its user friendliness make AMESim work with well-identified technolog- ical components, symbolically manipulated by means of icons. These icons are inter- connected, one to the other and identically to the engineering system architecture under study. Fig. 1 shows an example of a door locking system using a permanent magnet modelled in AMESim. The icons displayed here belong to the magnetic, mechanical and signal libraries. This simple example shows the coupling between mechanical and magnetic domains where one circuit, fed by a permanent magnet (right-hand side magnetic circuit), is forced to move with respect to another passive circuit (left-hand side circuit). The main components consist of a permanent magnet (rectangle with a compass needle inside), three magnetic circuit parts characterized 28 W. Marquis-Favre et al. / Simulation Modelling Practice and Theory 14 (2006) 2546 by a certain reluctance (rectangles with C212squareC213 ports with a diagonal cross inside), two variable air-gaps (vertical twin rectangles), two mechanical nodes (both sides of the air-gap components), a signal generator with a signal-to-displacement converter (in the centre of the right-hand side circuit), and a component for the set of the mag- netic medium characteristics (BH diagram in a circle). Each component can be associated with one model from a set of component compatible mathematical models. As soon as the model has been chosen the component conserves this mathematical model. Contrary to acausal tools, AMESim works with component models that have equations both a priori oriented in terms of variable assignments and organized. This feature requires implementing new models in a predefined calculus scheme. Also the mathematical formulation of a component model has to be organized in order to fit into other potential component connections. So each component associated with a mathematical model has a predetermined set of input and output variables. It can thus be considered as a causal model. The connection of the components enables the exchange of those variables on the way out a component for those variables that are calculated by its mathematical model (outputs) and, the exchange of those vari- ables on the way in a component for those variables that are calculated by a con- nected component mathematical model (inputs). This causal feature of AMESim philosophy is the main constraint when implementing new components. This diers Fig. 1. Example of an AMESim model representation. from other object-oriented tools, based on acausal component models or acausal phenomenon models, like Dymola, or tools with a bond graph input (e.g. 20-Sim or MS1). Fig. 2 gives an example of two components in the mechanical (a mass in transla- tion) and the hydraulic (a two way hydraulic pump) domains respectively. The con- necting ports of the components show the variables exchanged by them and especially the outputs (C212exitingC213 arrows) passed to the connected components and the inputs (C212enteringC213 arrows) received from the connected components. These con- necting ports are intimately associated with power ports since two of the variables W. Marquis-Favre et al. / Simulation Modelling Practice and Theory 14 (2006) 2546 29 exchanged at these ports are power variables. Fig. 2 examples illustrate two key features of a library oriented simulation tool. The first one is the domain port concept. It shows how AMESim can deal with plu- ridisciplinary systems. The second feature is the connecting port constraints. Since one component mathematical model requires given inputs to then calculate its state and its outputs, not all combinations of the component connections are allowed. For instance the Fig. 2 examples cannot be connected one to the other by any port. How- ever a mass component may be connected to a spring component or a damper component. Another key feature of a library oriented simulation software tool is the modular- ity concept. This often results in symmetrical components with respect to their con- necting port. This symmetry property, though not generalized to all components in AMESim, has been adopted for the planar mechanical library. The reason will ap- pear obvious when components of this library are presented. In the context of planar mechanisms and rigid bodies the library is not restricted to any mechanical domain application. The library also accepts closed loop struc- tures. Although relative coordinates are generally more ecient for dynamic equa- tion formulation, AMESim philosophy requires the use of absolute coordinates. The absolute coordinates of the mass center have been chosen for each body. Nev- ertheless the planar feature of the library does not require any specific variables for the body orientation. Thus the absolute angular position has been chosen for each body as well. Once again, due to AMESim philosophy, the equations of the compo- nents cannot be globally reorganized when the components are connected. This for- bids the use of the coordinate partitioning method or the projection method to decrease the index of the DierentialAlgebraic Equation systems. For this reason the Baumgarte stabilization has also been used in the library. Fig. 2. Example of two AMESim components. 3. Theoretical developments of the library components As has been explained in the previous section the library must be organized in 30 W. Marquis-Favre et al. / Simulation Modelling Practice and Theory 14 (2006) 2546 with m i the body mass and g the gravity acceleration. We consider here y 0 as the ascendant vertical axis. The star superscript indicates virtual quantities. The coe- cients of the virtual velocities in A* are derived from the kinetic coenergy (e.g. 6) of a body by the equation: A q doT dto_q C0 oT oq with q a generalized coordinate 3 1 A nomenclature is given in Appendix A. well-identified technological components. It has been decided to base the planar mechanical library on a body component and on joint components. The body com- ponent is associated with a supposed rigid material item of a mechanism. Its behav- ior is essentially governed by its kinetic state. The joint components are associated with the abstract items that represent the attachment of bodies in a mechanism. They are supposed to be ideal and their mathematical model is based on the constraints that they impose on the connected bodies. 3.1. Body component mathematical model The mathematical model of the body component is based on JourdainC213s Principle formulation (e.g. 5,23) 1 : A C3 P C3 1 where A* is the virtual power developed by the acceleration quantities and P* the virtual power developed by the actions on the body. In the library philosophy there is no a priori privileged candidate for the role of the generalized coordinates. For a planar motion, the generalized coordinates, which have been chosen, are the absolute mass center coordinates projected onto the absolute frame of reference x G i ;y G i and the absolute angular position h i (Fig. 3). This choice enables the more general case of a body motion to be dealt with. The body motion restriction will be determined by the joint constraints, as shown later. With this choice of generalized coordinates x G i ;y G i ;h i Eq. (1) members may now be written A C3 A x _x C3 G i A y _y C3 G i A h _ h C3 i P C3 Q x _x C3 G i Q y C0m i g_y C3 G i Q h _ h C3 i 2 W. Marquis-Favre et al. / Simulation Modelling Practice and Theory 14 (2006) 2546 31 Applied to Fig. 3 body in planar motion these quantities are written simply: A x m i x G i A y m i y G i with I i the body moment of inertia around G i ;z 0 A h I i h i 4 Q x , Q y , and Q h are the generalized forces including the constraint actions resulting from the fact that x G i , y G i , and h i are not necessarily independent after the connection of a body component to a joint component. From Eq. (1) and by taking a compat- ible virtual transformation with the joints as they exist at time t, we can now write the three identities that constitute the formulation basis for the body components. These three identities are m i x G i Q x m i y G i Q y C0m i g I i h i Q h 5 Fig. 3. Schema of a body in planar motion. This formulation requires that the expression of the three generalized forces Q x , Q y , and Q h be further developed in order to fit any potential connected joint component. First let us inspect the case of a body with only one connecting port at a point M. Let us also consider simply a given action on the body characterized by a wrench about point M (e.g. 17): fWg : F F x x 0 F y y 0 force MMC z z 0 torque about point M ( 6 The virtual power developed by this action is P C3 F C1 V 0 C3 M MMC1 X 0 C3 i 7 where V 0 C3 M is the virtual absolute velocity of point M and X 0 C3 i is the virtual abso- lute angular velocity of the body. The velocity transport (e.g. 11) enables Eq. (7) to be written as: 32 W. Marquis-Favre et al. / Simulation Modelling Practice and Theory 14 (2006) 2546 3.2. Joint component mathematical model First a general formulation is given for the joint component mathematical model. It is then illustrated in the example of a translational joint. Let us consider this time two bodies connected by a joint. By the only fact that both bodies are connected (a joint component between two body components) their generalized coordinates (x G i , y G i and h i for body i and x G j , y G j and h j for body j) are no longer independent. In the library philosophy the constraint equations are ex- pressed in the joint component, which in turn furnishes the constraint actions to the body components. These constraint actions correspond to the variables F x , F y , and C z previously presented and passed to each body component. The general expressions of these variables are now determined. The joints considered in the planar mechanical library generate only geometrical constraints. These constraints may be expressed in a general way in an implicit form by Eq. (10) (e.g. 15). g k q 1 ; .;q n 0 for k 1tom 10 with n the number of generalized coordinates involved in the constraints and m the constraint number. It is supposed here that the constraints are scleronomic 16, which means that time does not explicitly appear in the constraint equations. At the kinematic level these equations become P C3 F C1 V 0 C3 G i F C1 X 0 C3 i C2G i M C131C131! C16C17 MMC1 X 0 C3 i F C1_x C3 G i x 0 _y C3 G i y 0 MMG i M C131C131! C2 F C16C17 C1 _ h C3 i z 0 8 From Eq. (8) we can clearly identify the generalized forces used in the dynamic for- mulation of a body component: Q x F C1x 0 F x Q y F C1y 0 F y Q h MMG i M C131C131! C2 F C16C17 C1z 0 C z F C1z 0 C2G i M C131C131! 9 Since G i M C131C131! is a characteristic vector of the body, the variables F x , F y , and C z , char- acterizing the given force at point M, are the only variables passed to the body at the connecting port. The variables Q x , Q y , and Q h are calculated in the body component model on Eq. (9) basis. It is shown in the next section that th
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