基于多执行器协调的锻造操作机夹钳垂直提升控制
发布时间：2018-08-29 20:22
【摘要】：针对单缸控制锻造操作机提升过程的夹钳非线性升降现象,提出采用缓冲缸和升降缸协调的方法来控制夹钳垂直升降运动,建立了双缸协调轨迹的求解框图,并以夹钳垂直提升为边界条件分别求解,得到了升降缸和缓冲缸协调控制的理论轨迹曲线。在此基础上综合考虑机械、液压、电控系统非线性因素的影响,决定采用前馈补偿方法来提高双缸协调的位置精度。最后基于模拟试验台对采用传统PID、前馈补偿方法的控制效果进行了对比。试验结果表明,采用前馈补偿方法能够有效减小夹钳垂直升降时的水平误差。
[Abstract]:In view of the nonlinear lifting phenomenon of clamps in the process of single cylinder control forging operator, a method of using buffer cylinder and lifting cylinder to control the vertical lifting motion of clamp is put forward, and the solution block diagram of coordination track of two cylinders is established. Taking the vertical lifting of the clamp as the boundary condition, the theoretical trajectory curve of the coordinated control between the lifting cylinder and the buffer cylinder is obtained. On this basis, considering the influence of nonlinear factors of mechanical, hydraulic and electronic control system, the feedforward compensation method is adopted to improve the coordinate position accuracy of the two cylinders. Finally, the control effect of the traditional PID, feedforward compensation method is compared based on the simulation test rig. The experimental results show that the feedforward compensation method can effectively reduce the horizontal error of clamp vertical lifting.
【作者单位】： 燕山大学机械工程学院;
【基金】：燕山大学“重型机械协同创新计划课题”项目(ZX01-20140400-01)
【分类号】：TG315
[Abstract]:In view of the nonlinear lifting phenomenon of clamps in the process of single cylinder control forging operator, a method of using buffer cylinder and lifting cylinder to control the vertical lifting motion of clamp is put forward, and the solution block diagram of coordination track of two cylinders is established. Taking the vertical lifting of the clamp as the boundary condition, the theoretical trajectory curve of the coordinated control between the lifting cylinder and the buffer cylinder is obtained. On this basis, considering the influence of nonlinear factors of mechanical, hydraulic and electronic control system, the feedforward compensation method is adopted to improve the coordinate position accuracy of the two cylinders. Finally, the control effect of the traditional PID, feedforward compensation method is compared based on the simulation test rig. The experimental results show that the feedforward compensation method can effectively reduce the horizontal error of clamp vertical lifting.
【作者单位】： 燕山大学机械工程学院;
【基金】：燕山大学“重型机械协同创新计划课题”项目(ZX01-20140400-01)
【分类号】：TG315
【相似文献】
相关期刊论文 前10条
1 王立平;吴e，
本文编号：2212317
本文链接：https://www.wllwen.com/kejilunwen/jiagonggongyi/2212317.html
