Research On Compound Control For Clamp Vertical Lifting Of Forging Manipulator

In recent years,the rapid development of national economy has put forward higher requirements for large equipment manufacturing industry.Forging manipulator as an important auxiliary equipment coordinated with hydraulic press in forging industry is roundly developing in the direction of automation,high precision.The control precision of clamp lifting system,which is the core part of the forging manipulator,has important significance for forging processing technology.Especially with the constant improvement of the requirements of the linkage control technology for hydraulic press and double hydraulic forging manipulator,high precision control method research of the clamp lifting system has more important practical significance.In this paper,with lifting hydraulic cylinder and buffer hydraulic cylinder as the control object,the control method of clamp vertical lifting is studied based on the idea of multiple actuator coordinated control.The main research in this paper is carried out as follows:(1)The kinematics analysis is carried out on the clamp lifting mechanism,and the parametric module of kinematics analysis is established.The mathematical models of the key parts in clamp lifting system are built based on mechanism modeling way,and the hydraulic control system model has been built.(2)Based on MATLAB/Simulink simulation software,each modeling stage of valve control cylinder system has been built in the hydraulic control system.And the entire simulation model of clamp lifting hydraulic control system is built.The simulation has been studied of clamp vertical lifting through the coordinate control of two cylinders.(3)The compound control principle of clamp vertical lifting control system is analyzed,and the compound control link has been designed.The disturbing force model is established and analyzed based on inverse dynamics analysis of vertical lifting mechanism.The compound control simulation has been studied.(4)The experimental study is carried out for the compound control of clamp vertical lifting system through the way of building similar test bed,and the effectiveness of compound control for the clamp vertical lifting system has been verified.