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摘要：
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传统模锻锤采用定转速液压泵、蓄能器和打击阀方案实现对锤头的打击能量控制，存在打击能量可控性差、精确差，打击阀易损坏、寿命短等问题，提出一种采用交流伺服电机驱动定量泵的模锻锤打击能量控制方案，称为直驱式电液伺服模锻锤。针对这种新型模锻锤控制系统的精确控制问题，采用AMESim和Simulink仿真分析，提出了合适的解决方法。首先，建立交流永磁同步伺服电机和液压系统联合仿真模型，仿真分析出锤头速度和位移、泵流量及电机转速曲线，结果表明，锤头打击能量可以通过电机转速实现精确控制。针对传统PID对非线性控制的局限性，提出了一种小波神经网络PID模锻锤压力与速度的控制策略。利用cSPACE系统控制原型，通过半实物物理仿真，验证了控制方法的有效性。
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The traditional die forging hammer adapts the scheme of constant speed hydraulic pump, accumulator and striking valve to control the striking energy of hammer head, and there are some problems such as poor controllability and accuracy of striking energy, easy damage and short service life of striking valve. Then, a striking energy control scheme of die forging hammer by AC servo motor driving quantitative pump was designed, which was called direct drive electro-hydraulic servo die forging hammer. For the precise control problem of this new die forging hammer control system, the simulation analysis was conducted by software AMESim and Simulink, and the appropriate solutions were proposed. Firstly, the joint simulation model of AC permanent magnet synchronous servo motor and hydraulic system was established, and the curves of speed and displacement for hammer head, pump flow and motor speed were simulated and analyzed. The results show that the striking energy of hammer head is precisely controlled by motor speed. In view of the limitation of traditional PID to nonlinear control, a wavelet neural network PID control strategy for pressure and speed of die forging hammer was proposed. Finally, using the cSPACE system to control prototype, the effectiveness of the control method was verified by semi-physical physical simulation.
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基金项目：
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国家自然科学基金资助项目（51705135, 51705134）
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作者简介：
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毛玺(1962-) ，男，学士，高级实验师，E-mail：maoxi931208@126.com
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参考文献：
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