20T锻造操作机液压控制系统

Hydraulic Control System of 20T Forging Manipulator

锻造操作机是自动化锻造作业中不可缺少的重要装备之一。以20T载荷全液压锻造操作机为对象,针对其重载、定位精度要求高、惯量大的技术特点,对操作机各执行机构液压控制系统进行设计,包括大车行走系统、夹钳旋转系统、平行升降系统、水平缓冲系统、夹持系统和侧移摆移系统。建立操作机关键控制系统(大车行走系统、夹钳旋转系统)的数学模型,采用模糊PID控制算法,基于Matlab/Simulink和AMESim联合仿真技术仿真研究系统的动态特性,并进行试验验证。结果表明,操作机各液压系统回路设计合理,采用模糊控制策略的大车行走系统和夹钳旋转系统的实时性强、鲁棒性好,实现了操作机平稳、准确、快速控制。

The forging manipulator was one of the important equipments in the automatic forging job. In order to design the 20T hydraulic forging manipulator with the performance characteristics of overload, high positioning accuracy and large inertia, the hydraulic control systems for the actuating mechanism of forging manipulator were designed. The hydraulic control systems consisted of driving system, clamp rotation system, parallel lifting system, horizontal buffer system, clamping system and lateral swing system. Mathematical models of manipulator＇ s key control system （driving system and clamp rotation system） were improved. Based on Matlab/Simulink and AMESim co-imulation technology, simulation and analysis on the dynamic characteristics of driving system and clamp rotation system with fuzzy PID control algorithm were given. The experiments were taken to verify the system performance, and the results showed that the designs of the hydraulic system circuits were reasonable. The accuracy and rapidity of the forging manipulator control system were achieved. The real-time response and robust performance of the driving system and clamp rotation system with fuzzy control strategy are strong and stable.