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Abstract：
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For four-corner leveling electro-hydraulic system of hydraulic press slider, a control method was presented based on space task coordinate system, and the movement relationship and spatial position relationship between press slider and leveling hydraulic cylinders were analyzed to established a coordinate transform matrix. Then, the linear displacement coordinates of the four corners for press slider were converted into the task coordinates composed of center displacement and inclination angle of slider, and the slider tracking motion PID controller was designed in the task coordinate space based on the non-linear feedforward compensation of leveling force bias. Furthermore, the leveling PID controller was designed directly for the inclination angle of slider, and the control parameters for different control targets were independently adjusted without affecting each other. In addition, the pre-acceleration process based on the leveling force bias was designed to alleviate the impact when the slider contacted the leveling hydraulic cylinder. Finally, the effectiveness of the proposed control method was verified by experiments on the hydraulic press 25000 kN FRP, and in the experiment, the leveling hydraulic cylinders were respectively located at the four corners of a plane rectangle with 3550 mm×2900 mm. The experiment results show that after using the four-corner leveling control method based on the task coordinate system, the rotation inclination angles of the hydraulic press slider around the coordinate axis x and y are controlled within 0.0032°, and 0.0045° respectively, and the displacement deviation of the leveling hydraulic cylinder does not exceed 0.45 mm.
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Funds：
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江苏省双创人才
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AuthorIntro：
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作者简介：熊义（1986-），男，博士，工程师，E-mail：shonyee@163.com
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Reference：
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