锻压技术

多缸驱动液压机主动纠偏系统的模糊PID控制

英文标题：Fuzzy-PID control on active rectify deviation system for multi-cylinder driving hydraulic machine

作者：汪志能刘衡董楚峰

关键词：多缸液压机纠偏模糊PID控制数学模型

分类号：

出版年,卷(期):页码：2022,47(3):137-141

摘要：

多缸驱动液压机的纠偏性能直接决定锻件的加工质量，由于液压系统的时滞性、多缸间的耦合特性以及复杂偏心力矩等因素的影响，液压机的活动横梁极易出现偏转现象。针对这一难题，基于活动横梁的力平衡及力矩平衡，建立了多缸驱动液压机纠偏过程的数学模型，以液压缸伸出量为控制变量，以偏转角度为目标函数，建立了纠偏系统模糊控制规则表，形成了适应性较强的模糊PID控制方法。仿真结果表明：在模糊PID控制作用下，活动横梁在均变载荷下的稳态倾斜程度为0.2×10-3 rad，在脉动载荷下能在4.2 s内迅速恢复到平衡位置。该方法的响应速度快、稳态精度高，能实现高精度纠偏。

The rectify deviation performance of multi-cylinder driving hydraulic machine directly determines the processing quality of forgings. Due to the influences of factors such as time log of hydraulic system, coupling characteristics between multiple cylinders and complex eccentric moments, the movable crossbeam of the hydraulic machine is prone to deflection. Therefore, considering the above problems, a mathematical model for the rectify deviation process of the multi-cylinder driving hydraulic machine was established according to the force balance and the moment balance of the movable beam, and taking the extension of hydraulic cylinder as the control variable and the deflection angle as the objective function, the fuzzy control rule table of the rectify deviation system was proposed, and the fuzzy PID control method with strong adaptability was formed. Simulation results show that under the action of fuzzy PID control, the steady-state inclination of the movable crossbeam is 0.2×10-3 rad under the uniform load, and it can quickly return to the equilibrium position within 4.2 s under the pulse load. In all, this method can achieve high-precision rectify deviation with fast response speed and high steady-state accuracy.

基金项目：

湖南科技大学博士科研启动基金资助项目(E52055)；湖南省自然科学基金资助项目(2020JJ5184)

汪志能（1988-），男，博士，讲师 E-mail：873866634@qq.com

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