Modeling And Control Of Heavy-load Manipulator's Clamp Rotating Systems

Heavy-load manipulators are basic equipments for the manufacture industry, and a clamp is one of the important stuctures, in which the work modes are rotating, traversing, inclining, oscillation and lift. Therein, rotating is primary due to the manipulator's work purpose and property. To improve efficiency and guarantee quality, the clamp need to rotate rapidly, exactly and stably when forging. Especially, in the process of precision forging, the control accuracy of the rotating angle directly impact the quality of forging. Consequently, a proper controller is necessary to be designed for the rotating control of the clamp..For the manipulator with chucking power of 300t and moment of 700t·m, respectively when no-load or full-load meanwhile with stub forging, the rotating dynamics model is set up for the control of the heavy-load manipulator, the optimal controller is designed, and its stability and availability is proved.The primary researches include three parts. First, to understand the character of rotating clamp, the history of development of the manipulator and the optimal control are discussed. Second, modeling building method and optimal control theory are summarized. Third, on one hand, when no-load, the rotating dynamics model is set up by the energy method, and then it is transformed to state-space model. Its rationality is proved. On the other hand, when full-load meanwhile with stub forging, in similar manner, the controller is designed by the optimal control theory with state-space model. Simulation results show that the controller is proper, effective and reliable.