Synchronization Control On Walking Hydraulic System Of Dual Forging Manipulators Based On Triangular Velocity Planning

With the formation of the international market integration of the forging industry,the competition for forged products has become increasingly intense,especially in the field of large forgings,and domestic forging companies have shown problems such as low production efficiency and insufficient competitiveness.The dual forging manipulator combined with the press to complete the forging of the large forgings,especially the long shaft forgings,can effectively improve the forging efficiency and improve the quality of the forgings.This paper takes dual 20 kN forging manipulators in the “5 MN rapid forging hydraulic unit pilot test platform” of Yanshan University as the object,and studies the synchronous walking feed control of the dual manipulator dredgers in the normal forging condition for the traveling system of the operator 's car.The method aims to lay the foundation for the free-forging coordination control of the dual manipulator and press line.The main contents are as follows:(1)Established the mathematic model of the hydraulic system of the forging manipulator's walking valve control motor.Taking the parameters of the 20 kN forging manipulator as the research object,the control characteristics of the closed loop system of the walking position of the two special-shaped manipulators were analyzed.(2)Using the method of mechanism modeling,the mathematical model of the walking system of the forging manipulator was established,and the dynamic performance of the dual manipulators was analyzed.The characteristics of the dual forging manipulators with different dynamic performances were analyzed separately.Based on the planning of the movements and speeds of the two trucks,a triangular velocity planning method for the normal forging and feeding conditions is proposed,a trajectory planning generator is designed,and the trajectory planning generator is analyzed based on the composite control method of the displacement velocity.The influence of parameters on the control performance of the manipulator..(3)Based on the triangular velocity planning and displacement velocity compound control,independent feedback synchronization control method and state difference correction synchronization control method are studied,and the above control methods are simulated to affect the control performance of the dual manipulator walking synchronization system.(4)A similar experiment is used to verify the effectiveness of the composite control method for displacement and velocity based on triangular velocity trajectory planning.