|
Abstract：
|
|
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.
|
|
Funds：
|
|
燕山大学“重型机械协同创新计划课题”项目（ZX01-20140400-01）
|
|
AuthorIntro：
|
|
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
|
|
Reference：
|
［1］王勇勤， 王端，严兴春，等. DDS锻造操作机升降及倾斜机构设计分析[J]. 锻压装备与制造技术,2012,47(4):35-38.
Wang Y Q, Wang D, Yan X C, et al. Design and analysis of lifting and tilting mechanism of DDS forging manipulator[J].China Metalforming Equipment & Manufacturing Technology, 2012, 47(4):35-38.
［2］翟富刚. 液压锻造操作机多学科协同仿真研究[D].秦皇岛：燕山大学，2012.
Zhai F G. Multi-disciplinary Multidisciplinary Collaborative Simulation of Hydraulic Forging Manipulator [D]. Qinhuangdao: Yanshan University, 2012.
［3］王怀彬. 锻造操作机运动学与逆动力学分析[D].上海：上海交通大学，2008.
Wang H B. Kinematics and Inverse Dynamics Analysis of Forging Manipulator[D].Shanghai: Shanghai Jiao Tong University, 2008.
［4］付鸿晔.锻造操作机的运动学分析及整机设计[D].秦皇岛：燕山大学，2014.
Fu H Y. Kinematics Analysis and Whole Machine Design of Forging Manipulator [D]. Qinhuangdao: Yanshan University, 2014.
［5］Zhou H, Hou J Y. Vertical load analysis of the lifting systems for forging manipulator during the forging process[J]. Advanced Materials Research, 2011, 317-319: 764-769.
［6］张营杰，卫凌云，范玉林,等.双操作机与压机联合锻造工作的行走位置控制装置及方法[P].中国：CN102500736A，2012-06-20.
Zhang Y J, Wei L Y, Fan Y L, et al. Traveling position control device and method for combined operation of double manipulator and press[P].China: CN102500736A, 2012-06-20.
［7］Ding H, Feng Z, Fu H, et al. Conceptual design of an exactly straight lifting forging manipulator[J]. Journal of Mechanisms & Robotics, 2014, 6(3):1-4.
［8］陈博翁. 一种锻造操作机的机构分析及其虚拟样机建模[D].北京：清华大学，2009.
Chen B W. Mechanism Analysis and Virtual Prototype Modeling of a Forging Manipulator[D]. Beijing: Tsinghua University, 2009.
［9］许允斗，姚建涛，赵永生.锻造操作机提升机构设计方法[J].机械工程学报,2012,48(5):28-33.
Xu Y D, Yao J T, Zhao Y S. Design method of lifting mechanism of forging manipulator[J]. Journal of Mechanical Engineering,2012,48(5):28-33.
［10］Yan C, Gao F, Guo W. Coordinated kinematic modelling for motion planning of heavy-duty manipulators in an integrated open-die forging centre[J]. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2009, 223(10): 1299-1313.
［11］孔祥东, 翟富刚, 张杨, 等. 锻造操作机夹钳平行升降机构运动学特性分析[J]. 燕山大学学报, 2011, 35(3): 198-202.
Kong X D, Zhai F G, Zhang Y, et al. Kinematic analysis of parallel lifting mechanism of forging manipulator[J]. Journal of Yanshan University, 2011, 35(3): 198-202.
［12］翟富刚，姚静，武启雷，等. 一种锻造操作机用双功能缓冲缸及其液压系统[P]. 中国：CN105945192A, 2016-09-21.
Zhai F G, Yao J, Wu Q L, et al. Double function buffer cylinder and hydraulic system for forging manipulator[P]. China: CN105945192A, 2016-09-21.
|
|
Service：
|
|
【This site has not yet opened Download Service】【Add
Favorite】
|
|
|
|
Copyright Forging & Stamping Technology.All rights reserved