發(fā)布時間：2018-08-29 20:22

【摘要】：針對單缸控制鍛造操作機提升過程的夾鉗非線性升降現(xiàn)象,提出采用緩沖缸和升降缸協(xié)調(diào)的方法來控制夾鉗垂直升降運動,建立了雙缸協(xié)調(diào)軌跡的求解框圖,并以夾鉗垂直提升為邊界條件分別求解,得到了升降缸和緩沖缸協(xié)調(diào)控制的理論軌跡曲線。在此基礎(chǔ)上綜合考慮機械、液壓、電控系統(tǒng)非線性因素的影響,決定采用前饋補償方法來提高雙缸協(xié)調(diào)的位置精度。最后基于模擬試驗臺對采用傳統(tǒng)PID、前饋補償方法的控制效果進行了對比。試驗結(jié)果表明,采用前饋補償方法能夠有效減小夾鉗垂直升降時的水平誤差。
[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.
【作者單位】： 燕山大學機械工程學院;
【基金】：燕山大學“重型機械協(xié)同創(chuàng)新計劃課題”項目(ZX01-20140400-01)
【分類號】：TG315

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