Research On Synchronous Lifting Control Scheme Of Dual Forging Manipulator Hanging System

With the rapid development of China's ship transportation,rail transit,petrochemical and other major equipment manufacturing industries,large forgings are playing an increasingly important role.In the field of large forgings,domestic forging companies are not only not capable of controlling shape and quality,but also do not have the conditions to save energy and materials.and it generally present many problems such as low efficiency,low quality and high cost.Compared with the single forging manipulator,the dual forging manipulator combined with the press to complete the forging of the large forgings,especially the long shaft forgings.On one hand,it can ensure the quality of the forging by reducing the deflection of the forging axis,On the other hand,it can save energy and reduce cost by reducing the reheating times of forgings.This paper takes two 20 kN forging manipulators in the “5 MN rapid forging hydraulic unit pilot test platform” of Yanshan University as the object,and studies the control method of synchronous lifting movement of the dual forging manipulator holding forgings,aiming to lay the foundation for the joint forging of the dual forging manipulators and press.The main contents are shown in the following sections:(1)Established the mathematic model of the forward and reverse kinematics of the hanging mechanism,and built the mapping relationship between the displacement of the two cylinders and the displacement of the end of the clamp.Based on forward kinematics analysis,the angular acceleration values of the rotating hinge points and the linear acceleration values of the centroids obtained.Established the inverse dynamics mathematical model of the hanging mechanism by using the Newton-Eulerian method,that can indirectly obtain the force at the end of the clamp from the motion state of the two cylinders.(2)Aiming at the difference in the configuration of the two forging manipulators,based on the AMESim platform,the combined simulation model including mechanical,electrical control and hydraulic pressure of two forging manipulators were established respectively.Comparing the response difference of the closed position of the two forging manipulators by simulation.Then the dead zone compensation algorithm was introduced to provide the basis for the subsequent two-machine synchronization.(3)The force analysis of the forgings under the clamping of the dual forging manipulator was carried out.Then the forgings were numerically simulated by the DEFORM software in the axially opposite working condition,that established a database of deformation resistance of forgings corresponding to top displaceme nt and speed.Based on this database,a simulation model for synchronous lifting of dual forging manipulators clamping forgings was established.(4)Taking the synchronous cylinder error value as the index,the control effect of the dual forging manipulator system under different synchronous control strategies and given different types of signals was compared and analyzed.Based on the axial load force of the end,the simulation control scheme of the buffer cylinder during the synchronous lifting movement of the double forging manipulator was simulated.