重载夹持装置双马达位置同步控制研究

Research on Synchronization Control of Double Motors of Clamp Device of Forging Manipulator

针对重载操作装备夹持装置装置的位置同步控制问题,建立了双马达的电液比例控制模型,提出了在补偿控制方式下,采用自适应模糊PID控制方法对位置偏差进行调节的双马达同步控制方案,并与采用常规PID算法进行了比较。仿真结果表明,该控制方法具有超调小、响应速度快以及鲁棒性强等特点,能实现重载夹持装置双马达系统的快速精确位置同步控制。

Aiming at the angle synchronization control of the heavy-duty holding device,a dual-motor synchronous model of electrohydraulic proportional control is establishment. To adjust the position deviation of the two-motor synchronous control system,a controlstrategy which use adaptive fuzzy PID control in the compensation control mode is put forward,and is compared with the conventional PID algorithm. The simulation results indicate that this system owns small overshoot,good rapidity,and good robustness,it is suitable for fast and accurate angle synchronization control of double motors of clamp rotation device.