锻造操作机相似试验台设计和仿真

Design and Simulation of Similar Model of a Forging Manipulator

锻造操作机具有重载、大惯量、机构混联等特性,这对操作机的快速高精度控制提出了很高的要求。为了满足操作机的控制要求,各种控制方法被提出并通过仿真验证了可行性。但是,直接将这些控制方法应用到重载荷的操作机上是不恰当的。设计了一台机、电、液一体化的锻造操作机相似模型,该模型在尺寸、运动和受力特性上和作为原型的某锻造操作机相似。同时,还建立了该样机的AD-AMS虚拟动力学模型,适用于控制方法的仿真和验证。

The heavy-duty and hybrid characteristics of forging manipulator challenge the fast and precious control of this kind of machine. Different kinds of control methods are developed and verified through simulation. However, it is unsuitable to apply the controller directly to the manipulator. In this work, a similar experimental platform of forging manipulator is provided for controller verifying and adjusting. Moreover, virtual dynamic model constructed by MSC. ADAMS of the platform is provided for controller simulation and verifying.