Transactions of Materials and Heat Treatment

Title：Hydraulic shock vibration and positioning control for forging manipulator walking system

Authors： Liu Wenguang Feng Ting Shi Qing Zhang Xiaoli He Qigong

Unit： Lanzhou LS Group Co. Ltd. Gansu Key Laboratory of Metal Plasticity Forming & Equipment Intelligent Control Documentation and Information Centre Gansu Academy of Sciences

KeyWords： forging manipulator hydraulic shock positioning control switching control AMESim

ClassificationCode：TH137

year,vol(issue):pagenumber：2019,44(12):99-103

Abstract：

For the problem of loud noise of hydraulic shock vibration and inaccurate positioning for forging manipulator walking system at stopping time, the causes were analyzed, and the mathematical model of hydraulic system for cart walking was established. Then, the method for switching the control strategy from PID control to proportional directional valve zero control signal was proposed when the cart displacement reached the critical point of accuracy range of target value. Close to the inlet and outlet ports of walking hydraulic motor, the secondary relief valve group was back-to-parallel, and the damping hole was set between the inlet and outlet parts of the walking hydraulic motor. Furthermore, the simulation and comparison analysis were conducted by the platform AMESim. The results show that switching control strategy combined with the hardware compensation measures of the secondary relief valve group and the connecting damping hole can isolate the influence of high pressure oil source and reaction force of forging workpiece for fast forging press on the cart walking motor, reduce the hydraulic shock vibration effectively when the machine stops, improve the damping ratio of the system, speed up the attenuation of hydraulic impact, and improve the positioning accuracy of the cart.

Funds：

刘文广（1990-），男，硕士，工程师 E-mail：lzleven@126.com

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