| Forging manipulator, which is an important part of the forging unit, is easy to carry out in computer automation system with fast response and high precision control. In this paper, for the characteristics of forging manipulator control system, an automation control system on manipulator movement and clamp rotation of the forging manipulator is accomplished by siemens PLC system, based on fuzzy self-tuning PID algorithm. Meanwhile, it's modeled and simulated on the control system of forging manipulator by MATLAB/Simulink and AMESim co-simulation technology.For the nonlinear characteristics of forging manipulator control system, it is proposed a control system that based on fuzzy self-tuning PID algorithm. By the powerful computing capability of MATLAB/Simulink and perfect model library of AMESim, a simulation model of the forging manipulator control system is established through co-simulation technology. Compare the control precision and the response speed of forging manipulator control system under different load conditions, by ordinary PID algorithm and fuzzy self-tuning PID algorithm. Simulation results show that the control system by fuzzy self-tuning PID control algorithm has better robustness and control precision.With the characteristics of forging manipulator control system and the production needs of users, the forging manipulator control system is composed by IPC, Siemens PLC controller and touch screen monitor to achieve manual control, automation control and linkage control with press. The maximum operation speed of the manipulator cart is 800mm/s and the accuracy of the movement is±5mm; the maximum rotation speed of the manipulator clamp is 15r/min and the accuracy is±1°. The automation control system based on fuzzy self-tuning PID algorithm is coded by memory indirect addressing way on PLC. It is an effective way to improve the control accuracy and response speed of the forging manipulator. |
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