锻压技术

基于多执行器协调的锻造操作机夹钳垂直提升控制

英文标题：Vertical lifting control of forging manipulator clamp based on multi-actuator coordination

作者：翟富刚魏立忠韩少勇李瑞阳

单位：燕山大学

分类号：

出版年,卷(期):页码：2017,42(12):92-97

摘要：

针对单缸控制锻造操作机提升过程的夹钳非线性升降现象，提出采用缓冲缸和升降缸协调的方法来控制夹钳垂直升降运动，建立了双缸协调轨迹的求解框图，并以夹钳垂直提升为边界条件分别求解，得到了升降缸和缓冲缸协调控制的理论轨迹曲线。在此基础上综合考虑机械、液压、电控系统非线性因素的影响，决定采用前馈补偿方法来提高双缸协调的位置精度。最后基于模拟试验台对采用传统PID、前馈补偿方法的控制效果进行了对比。试验结果表明，采用前馈补偿方法能够有效减小夹钳垂直升降时的水平误差。

For the phenomenon of nonlinear lifting of the clamp in the lifting process of single-cylinder controled forging manipulator, a method was proposed to control the lift movement of clamp by the coordination of the buffer cylinder and the lift cylinder, and a solve diagram of double-cylinder coordination trajectory was established. Then, the vertical lifting of the clamp was regarded as boundary conditions to solve respectively, and the theoretical trajectory curve of coordinated control of the lift cylinder and the buffer cylinder was obtained. On this basis, considering the influence of nonlinear factors in mechanical, hydraulic and electronic control systems, the position accuracy of the two-cylinder coordination was improved by the method of feedforward compensation. Finally, based on the simulation test-bed data, the control effects of traditional PID and feedforward compensation methods were compared. The experimental results show that the feedforward compensation method can effectively reduce the horizontal error when the clamp is vertically raised and lowered.

基金项目：

燕山大学“重型机械协同创新计划课题”项目（ZX01-20140400-01）

作者简介：翟富刚（1979-），男，博士，副教授 E-mail：songrr@ysu.edu.cn 通讯作者：魏立忠（1992-），男，硕士研究生 E-mail：969765162@qq.com

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