基于多执行器协调的锻造操作机夹钳垂直提升控制
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摘要
针对单缸控制锻造操作机提升过程的夹钳非线性升降现象,提出采用缓冲缸和升降缸协调的方法来控制夹钳垂直升降运动,建立了双缸协调轨迹的求解框图,并以夹钳垂直提升为边界条件分别求解,得到了升降缸和缓冲缸协调控制的理论轨迹曲线。在此基础上综合考虑机械、液压、电控系统非线性因素的影响,决定采用前馈补偿方法来提高双缸协调的位置精度。最后基于模拟试验台对采用传统PID、前馈补偿方法的控制效果进行了对比。试验结果表明,采用前馈补偿方法能够有效减小夹钳垂直升降时的水平误差。
For the phenomenon of nonlinear lifting of the clamp in the lifting process of single-cylinder controled forging manipulator,a method was proposed to control the lift movement of clamp by the coordination of the buffer cylinder and the lift cylinder,and a solve diagram of double-cylinder coordination trajectory was established. Then,the vertical lifting of the clamp was regarded as boundary conditions to solve respectively,and the theoretical trajectory curve of coordinated control of the lift cylinder and the buffer cylinder was obtained. On this basis,considering the influence of nonlinear factors in mechanical,hydraulic and electronic control systems,the position accuracy of the two-cylinder coordination was improved by the method of feedforward compensation. Finally,based on the simulation test-bed data,the control effects of traditional PID and feedforward compensation methods were compared. The experimental results show that the feedforward compensation method can effectively reduce the horizontal error when the clamp is vertically raised and lowered.
For the phenomenon of nonlinear lifting of the clamp in the lifting process of single-cylinder controled forging manipulator,a method was proposed to control the lift movement of clamp by the coordination of the buffer cylinder and the lift cylinder,and a solve diagram of double-cylinder coordination trajectory was established. Then,the vertical lifting of the clamp was regarded as boundary conditions to solve respectively,and the theoretical trajectory curve of coordinated control of the lift cylinder and the buffer cylinder was obtained. On this basis,considering the influence of nonlinear factors in mechanical,hydraulic and electronic control systems,the position accuracy of the two-cylinder coordination was improved by the method of feedforward compensation. Finally,based on the simulation test-bed data,the control effects of traditional PID and feedforward compensation methods were compared. The experimental results show that the feedforward compensation method can effectively reduce the horizontal error when the clamp is vertically raised and lowered.
引文
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[3]王怀彬.锻造操作机运动学与逆动力学分析[D].上海:上海交通大学,2008.Wang H B.Kinematics and Inverse Dynamics Analysis of Forging Manipulator[D].Shanghai:Shanghai Jiao Tong University,2008.
[4]付鸿晔.锻造操作机的运动学分析及整机设计[D].秦皇岛:燕山大学,2014.Fu H Y.Kinematics Analysis and Whole Machine Design of Forging Manipulator[D].Qinhuangdao:Yanshan University,2014.
[5]Zhou H,Hou J Y.Vertical load analysis of the lifting systems for forging manipulator during the forging process[J].Advanced Materials Research,2011,317-319:764-769.
[6]张营杰,卫凌云,范玉林,等.双操作机与压机联合锻造工作的行走位置控制装置及方法[P].中国:CN102500736A,2012-06-20.Zhang Y J,Wei L Y,Fan Y L,et al.Traveling position control device and method for combined operation of double manipulator and press[P].China:CN102500736A,2012-06-20.
[7]Ding H,Feng Z,Fu H,et al.Conceptual design of an exactly straight lifting forging manipulator[J].Journal of Mechanisms&Robotics,2014,6(3):1-4.
[8]陈博翁.一种锻造操作机的机构分析及其虚拟样机建模[D].北京:清华大学,2009.Chen B W.Mechanism Analysis and Virtual Prototype Modeling of a Forging Manipulator[D].Beijing:Tsinghua University,2009.
[9]许允斗,姚建涛,赵永生.锻造操作机提升机构设计方法[J].机械工程学报,2012,48(5):28-33.Xu Y D,Yao J T,Zhao Y S.Design method of lifting mechanism of forging manipulator[J].Journal of Mechanical Engineering,2012,48(5):28-33.
[10]Yan C,Gao F,Guo W.Coordinated kinematic modelling for motion planning of heavy-duty manipulators in an integrated opendie forging centre[J].Proceedings of the Institution of Mechanical Engineers,Part B:Journal of Engineering Manufacture,2009,223(10):1299-1313.
[11]孔祥东,翟富刚,张杨,等.锻造操作机夹钳平行升降机构运动学特性分析[J].燕山大学学报,2011,35(3):198-202.Kong X D,Zhai F G,Zhang Y,et al.Kinematic analysis of parallel lifting mechanism of forging manipulator[J].Journal of Yanshan University,2011,35(3):198-202.
[12]翟富刚,姚静,武启雷,等.一种锻造操作机用双功能缓冲缸及其液压系统[P].中国:CN105945192A,2016-09-21.Zhai F G,Yao J,Wu Q L,et al.Double function buffer cylinder and hydraulic system for forging manipulator[P].China:CN105945192A,2016-09-21.