A Fuzzy Control Strategy For The Clamp Rotation System In A Heavy-load Forging Manipulator

A heavy-load forging manipulator is one of the key equipment used to manufacture the large-sized forgings. The precision of the clamp rotating angular displacement, directly affects the precision and quality of the forgings. In order to obtain enough torque, the heavy-load forging manipulator generally adopt the dual hydraulic motors.lt is well known that the hydraulic system is exsiting the strong nonlinear factors. Therefore, the clamp rotation system is hard to develop practical mathematical model. Moreover, because of the inconsistent hydraulic characteristics, it easily causes the phenomenon of the unbalanced load in the connection of the rigid load. So on the premise of the clamp angular displacement accuracy, it has to restrain the unbalanced load of the double motors. Therefore, the clamp rotation system is used as the research object in this paper. And this paper study the application in the control of the clamp angular displacement and dual hydraulic motors load balance. The main works and achievements are shown as follows:(1) Through the analysis of the clamp rotation system, considering the nonlinear influences and integrated with the system model of valve control hydraulic motor, a clamp rotation system model is established.(2) In order to solve the low control accuracy of the clamp angular displacement and offset the unbalanced load existing in the dual motors of a heavy-load forging manipulator, a new control strategy of Fuzzy is proposed. The fuzzy adaptive controller and load balancing controller with fuzzy controller are designed.(3) Using Lyapunov stability theory that the closed-loop control system of the rotating clamps is stable. Through the results of simulation, the stragety of Fuzzy can satisfy the requirement of the clamp angular displacement accuracy, and realise the balanced load of the double motors.(4) According to the experiment sets, the experiment schemes are designed. The results of experiment demonstrate that the fuzzy adaptive controller can satisfy the requirement of the clamp angular displacement accuracy, and the load balancing controller with fuzzy controller can substantially restrain the unbalanced load of the double motors. Therefore, the control strategy of Fuzzy is effective,and it can boost the forging quality of the forgings and the performance of the forging manipulator.