混合驱动的拉伸压力机与精压机的基础理论研究
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摘要
混合驱动压力机是由常规电机和伺服电机通过二自由度合成机构进行混合
驱动，系统的主要功率和运动由常规电机提供，伺服电机对系统运动起调节作用。
这使得混合驱动压力机既有传统机械式压力机的大功率、运行平稳等优点，又具
有可控性、可调性，即具有柔性，能够提供多组输出运动规律。因此，混合驱动
压力机，不用改变机构几何参数，通过编程控制伺服电机运动规律，就能够较为
方便地调节压力机滑块的位移和速度，以满足不同产品和材料加工工艺的要求。
鉴于二自由度混合驱动机构的构型选择的重要性，本文从奇异性分析入手，
较为深入地分析了一种新型二自由度混合驱动机构的可动性条件，给出了一种分
析多环多杆机构可动性条件的方法。在此基础上，对该机构进行了运动学分析，
并根据机械式压力机典型的深拉伸工艺曲线，对该混合驱动拉伸压力机进行了正
运动学优化。首先，假定伺服电机与常规电机一起做定转速的匀速转动，优化综
合机构的几何尺寸；然后，以第一步优化结果为基础，再对伺服电机的运动规律
进行优化。
对于混合驱动精压机的基础理论研究，主要有：(1)根据精压加工工艺的特
点，采用正运动学优化的方法，分别对混合驱动精压机的结构参数和伺服电机的
运动规律进行了多个实例的优化设计，找到了该混合驱动精压机可以实现的多组
滑块运动规律曲线；(2)对混合驱动精压机系统进行动态静力分析，研究两电机
的功率分配情况；(3)应用拉格朗日方程推导了二自由度九杆机构的动力学方程，
并联合采用 PID 控制的直流电动机的动力学方程，建立了混合驱动精压机的机电
系统动力学模型；(4)采用降阶处理的方法将混合驱动精压机的动力学模型转化
为一个六元一阶微分方程组，并通过用四阶龙格-库塔法进行数值求解，对混合
驱动精压机进行了动力学仿真。
最后，对于混合驱动精压机的基础理论研究，提出了一些建议，并做了一下
展望。
The hybrid-driven press is a new type of machine system, which is to combine
the motion of a large uncontrollable constant speed motor with a small controllable
servomotor via a two-DOF mechanism, where, the constant speed motor provides
main torque and motion requirements, while the servomotor contributes to
modulations on this motion. This kind of mechanical system not only has advantages
of classical mechanical system, but also is controllable and has great flexibility. So,
without changing the geometric parameters of the system, only through adjusting the
trajectory of servomotor displacement, the same hybrid-driven is able to meet
different requirements of pressing different products and materials.
The choice of selecting a suitable type of mechanism is very critical to the
hybrid-driven. Therefore, the analysis of singularity and mobility condition of a new
two-DOF hybrid-driven mechanism is presented. On the basis of these, the kinematic
analysis of this mechanism is given. In addition, the optimum design of the
hybrid-driven press for deep drawing is carried out through two major processes. The
geometric parameters of mechanism is optimized first, based on which, the
optimization of the displacement trajectory of the servomotor is conducted.
The theoretical research of hybrid-driven precision press mainly includes:
(1)According to the properties of precision forging, a few examples of optimum
design of hybrid-driven precision press are given, which include optimizing the
geometric parameters of the precision press and the motion trajectory of the
servomotor; (2)The power distribution of the two motors is studied through analyzing
dynamical static force of the system; (3) Based on Lagrange’s formulation the
dynamic model of two-DOF hybrid-driven mechanism is constructed. Then it is
linked to dynamic models of the two dc motors controlled with PID, hence, the
dynamic model of the whole system; (4)The dynamic equations are transformed into a
system of first order equations. Finally dynamic simulation is carried on through
solving the equations by the fourth Runge-Kutta approach.
At the end of the research, some suggestions are given for further studies and
application of the hybrid-driven precision press.
驱动，系统的主要功率和运动由常规电机提供，伺服电机对系统运动起调节作用。
这使得混合驱动压力机既有传统机械式压力机的大功率、运行平稳等优点，又具
有可控性、可调性，即具有柔性，能够提供多组输出运动规律。因此，混合驱动
压力机，不用改变机构几何参数，通过编程控制伺服电机运动规律，就能够较为
方便地调节压力机滑块的位移和速度，以满足不同产品和材料加工工艺的要求。
鉴于二自由度混合驱动机构的构型选择的重要性，本文从奇异性分析入手，
较为深入地分析了一种新型二自由度混合驱动机构的可动性条件，给出了一种分
析多环多杆机构可动性条件的方法。在此基础上，对该机构进行了运动学分析，
并根据机械式压力机典型的深拉伸工艺曲线，对该混合驱动拉伸压力机进行了正
运动学优化。首先，假定伺服电机与常规电机一起做定转速的匀速转动，优化综
合机构的几何尺寸；然后，以第一步优化结果为基础，再对伺服电机的运动规律
进行优化。
对于混合驱动精压机的基础理论研究，主要有：(1)根据精压加工工艺的特
点，采用正运动学优化的方法，分别对混合驱动精压机的结构参数和伺服电机的
运动规律进行了多个实例的优化设计，找到了该混合驱动精压机可以实现的多组
滑块运动规律曲线；(2)对混合驱动精压机系统进行动态静力分析，研究两电机
的功率分配情况；(3)应用拉格朗日方程推导了二自由度九杆机构的动力学方程，
并联合采用 PID 控制的直流电动机的动力学方程，建立了混合驱动精压机的机电
系统动力学模型；(4)采用降阶处理的方法将混合驱动精压机的动力学模型转化
为一个六元一阶微分方程组，并通过用四阶龙格-库塔法进行数值求解，对混合
驱动精压机进行了动力学仿真。
最后，对于混合驱动精压机的基础理论研究，提出了一些建议，并做了一下
展望。
The hybrid-driven press is a new type of machine system, which is to combine
the motion of a large uncontrollable constant speed motor with a small controllable
servomotor via a two-DOF mechanism, where, the constant speed motor provides
main torque and motion requirements, while the servomotor contributes to
modulations on this motion. This kind of mechanical system not only has advantages
of classical mechanical system, but also is controllable and has great flexibility. So,
without changing the geometric parameters of the system, only through adjusting the
trajectory of servomotor displacement, the same hybrid-driven is able to meet
different requirements of pressing different products and materials.
The choice of selecting a suitable type of mechanism is very critical to the
hybrid-driven. Therefore, the analysis of singularity and mobility condition of a new
two-DOF hybrid-driven mechanism is presented. On the basis of these, the kinematic
analysis of this mechanism is given. In addition, the optimum design of the
hybrid-driven press for deep drawing is carried out through two major processes. The
geometric parameters of mechanism is optimized first, based on which, the
optimization of the displacement trajectory of the servomotor is conducted.
The theoretical research of hybrid-driven precision press mainly includes:
(1)According to the properties of precision forging, a few examples of optimum
design of hybrid-driven precision press are given, which include optimizing the
geometric parameters of the precision press and the motion trajectory of the
servomotor; (2)The power distribution of the two motors is studied through analyzing
dynamical static force of the system; (3) Based on Lagrange’s formulation the
dynamic model of two-DOF hybrid-driven mechanism is constructed. Then it is
linked to dynamic models of the two dc motors controlled with PID, hence, the
dynamic model of the whole system; (4)The dynamic equations are transformed into a
system of first order equations. Finally dynamic simulation is carried on through
solving the equations by the fourth Runge-Kutta approach.
At the end of the research, some suggestions are given for further studies and
application of the hybrid-driven precision press.
引文
[1]何德誉，曲柄压力机，北京：机械工业出版社，1987
[2]何德誉，专用压力机，北京：机械工业出版社，1989
[3]J.Rees Jones. Some Selection Issues in Non-Uniform Motion Generation for High
Speed Applications, IMechE, Engineering Science Division Seminar 1987.
[4]Tokuz L.C., Hybrid machine modeling and control, Ph.D. Thesis, Department of
Mech., Marine and Production Eng., Liverpool Polytechnic, UK, 1992
[5]Tokuz L.C., Jones J.R., Power Transmission and Flow in the Hybrid Machines, The
6th International Machine Design and Production Conf., 1994,MENU, ANKARA,
TURKEY: 209～218
[6]Tokuz L.C., A Design Guide for Hybrid Machine Applications, Tr. J. of
Engineering and Environment Sciences, 1997,21:1～11
[7]Tokuz L.C, Jones J.R. Programmable Modulation of Motion Using Hybrid
Machines, Eurotech Direct'91-ImechE, European Engineering and Technology
Transfer Congress, 414/071,1991,85～91
[8]Greenough J D,et al． Design of Hybrid Machine. Proceeding of the 9th IFToMM
world Congress,1995,2501～2505
[9]Ali Kirecci, L. Canan Dulger, A study on a hybrid actuator, Mechanism Machine
Theory. 2000, 35(2):1141～1149
[10]Connor A.M. etal, The Synthesis of Hybrid Five-bar Path Generating Mechanisms
Using Genetic Algorithms. Genetic Algorithms in Engineering System:
Innovations and Application,1995, 313～318
[11]Sesha S.V., Bhartendu S., Programmable Cam Mechanisms. the 26th International
Symposium on Industrial Robots, 267～272.
[12]孔建益，W.Funk 等，受控机构学的研究现状和发展展望，中国机械工程，
1995,9(1):55～57
[13]孔建益，W.Funk，具有一个受控原动件的五杆机构精确实现给定函数的研
究．中国机械工程，1996,7(专刊):106～108
[14]孔建益，W.Funk，具有一个受控原动件的五杆机构精确实现给定传动比的研
究，武汉冶金科技大学学报，1997,20(2):189～193
71
参考文献
[15]程光蕴,两自由度连杆机构精确实现平面轨迹的研究,东南大学学报，
1990,20(3):64～67
[16]周 洪，邹慧君，王石刚，混合输入型五杆轨迹机构的分析与设计，上海交
通大学学报，1999，33（7）：865～869
[17]周双林，邹慧君，郭为忠，姚燕安，平面闭链五杆机构柔性工作空间的研究，
机械工程学报.2001,36(11):10～15
[18]周双林，邹慧君，姚燕安，郭为忠，混合输入五杆机构构型的分析， 上海
交通大学学报，2001,35(7):1045～1048
[19]刘建琴,弹性连杆机构创成轨迹精度控制的理论与实验研究，[博士学位论
文]，天津：天津大学,2000
[20]田汉民，混合输入五杆机构的分析与综合，[硕士学位论文]，天津：天津大
学，2001，1
[21]张新华,实现轨迹创成的混合驱动可控机构分析与综合, [博士学位论文]，
天津：天津大学,2002.2
[22]Yan H.S., Tsai M.C., etc, A Variable-Speed Method for Improving Motion
Characteristics of Cam-follower Systems, ASME Journal of Mechanical
Design.1996, 118:250-258
[23]Yan H.S., Tsai M. C., etc, An Experimental Study of the Effects of Cam Speeds
on Cam-follower Systems, Mechanism and Machine Theory ,1996,31: 397-412
[24]Rong-Fong Fung Ken-Wang Chen Jia-Yush Yen, Fuzzy Sliding Mode
Controlled Slider-Crank Mechanism Using a PM Synchronous Servo Motor
Drive., International Journal of Mechanism Science. 1999,41
[25]Chew M., Plan M., Application of Learning Control Theory to Mechanisms, Part I:
Inverse Kinematics and Parametric Error Compensation; Part II: Reduction of
Residual Vibration in High-Speed Electro-Mechanical Bonding Machines, Proc.
of the 23th ASME Mech. Conf., Minneapolis MN, Sept, 1994
[26]Yao Yan-an, Zhang Ce, Yan Hong-Sen. Motion control of cam mechanisms,
Mechanism and Machine Theory, 2000，35: 593-607
[27]姚燕安，凸轮机构的主动控制，[博士学位论文]，天津：天津大学，1999
[28]姚燕安，颜鸿森，张策等，凸轮机构与伺服控制系统的集成设计，中国科学
（E 辑），2000，30（6）：524－530
[29]译自《日经机械》， 伺服成形设备可提高小型精密冲压零件的生产率， 机
电信息， No.1，1998（总第 208 期）
72
天津大学博士学位论文
[30]S.Yossifon, R.Shivpuri,. Analysis And Comparison of Selected Rotary Linkage
Drives For Mechanical Presses, International Journal of Machine Tools &
Manufacture. 1993, 33(2): 175-192
[31]S.Yossifon, R.Shivpuri, Design Considerations for the Electric Servo Motor
Driven 30 Ton Double Knuckle Press For Precision Forming, International
Journal of Machine Tools & Manufacture. 1993, 33(2): 193-208
[32]S.Yossifon, R.Shivpuri, Optimization of a Double Knuckle Linkage Drive with
Constant Mechanical Advantage for Mechanical Presses, International Journal of
Machine Tools & Manufacture. 1993, 33(2): 209-222
[33]叶云岳, 直线电机理论与应用，浙江大学研究生教材，1999
[34]叶云岳，新型直线驱动装置与系统，北京:冶金工业出版社，2000
[35]陆永辉，混合输入机构驱动曲柄压力机的研究，[硕士学位论文]，天津：天
津大学，2001
[36]卢宗武，可控压力机研究，[硕士学位论文]，天津：天津大学，2002，6
[37]李 辉，混合驱动可控压力机的基础理论研究，[博士学位论文]，天津：天
津大学，2003，5
[38]李 辉，混合驱动精压机的优化设计和运动仿真，计算机辅助设计与图形学
学报(录用待发)
[39]Ting K.L., Five-Bar Grashof Criteria, ASME Journal of Mechanisms,
Transmissions, and Automation in Design, 1986,108(12): 533～537
[40]Ting K.L., Mobility Criteria of Geared Five-Bar Linkages, Mech.Mach.Theory,
1994,29(2): 251～264
[41]Ting,K.L., Mobility Criteria of Single Loop N-bar Linkage.Journal of
Mechanisms, Transmission,and Automation in Design. 1989, Vol.111:504～507
[42]Ting,K.L.，Yung_Way Liu. Rotatability Laws for N-bar Kinematic Chains and
Their Proof.Journal of Mechanical Design.1991, Vol.111:32～39
[43]Gosselin C.M., Angeles J., Singularity Anysis of Closed-Loop Kinematic
Chains.IEEE Transactions on Robotics and Automation, 1990,6(3): 281-290
[44]Basu D., Ghosal A., Singularity Analysis of Platform Type Multi-loop Spatial
Mechanisms[J], Mech. Mach. Theory, 1997,32(3):375-389
[45]张 策，机械动力学，北京：高等教育出版社，2000
[46]孟彩芳，机械原理电算分析与设计，天津：天津大学出版社，2000
[47]天津大学应用数学编写组 编，应用数学基础，天津：天津大学出版社，1990
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[48]陈在平，控制系统计算机仿真与 CAD，天津：天津大学出版社，2001
[49]黄忠霖，控制系统 Matlab 计算及仿真，国防工业出版社，2001
[2]何德誉，专用压力机，北京：机械工业出版社，1989
[3]J.Rees Jones. Some Selection Issues in Non-Uniform Motion Generation for High
Speed Applications, IMechE, Engineering Science Division Seminar 1987.
[4]Tokuz L.C., Hybrid machine modeling and control, Ph.D. Thesis, Department of
Mech., Marine and Production Eng., Liverpool Polytechnic, UK, 1992
[5]Tokuz L.C., Jones J.R., Power Transmission and Flow in the Hybrid Machines, The
6th International Machine Design and Production Conf., 1994,MENU, ANKARA,
TURKEY: 209～218
[6]Tokuz L.C., A Design Guide for Hybrid Machine Applications, Tr. J. of
Engineering and Environment Sciences, 1997,21:1～11
[7]Tokuz L.C, Jones J.R. Programmable Modulation of Motion Using Hybrid
Machines, Eurotech Direct'91-ImechE, European Engineering and Technology
Transfer Congress, 414/071,1991,85～91
[8]Greenough J D,et al． Design of Hybrid Machine. Proceeding of the 9th IFToMM
world Congress,1995,2501～2505
[9]Ali Kirecci, L. Canan Dulger, A study on a hybrid actuator, Mechanism Machine
Theory. 2000, 35(2):1141～1149
[10]Connor A.M. etal, The Synthesis of Hybrid Five-bar Path Generating Mechanisms
Using Genetic Algorithms. Genetic Algorithms in Engineering System:
Innovations and Application,1995, 313～318
[11]Sesha S.V., Bhartendu S., Programmable Cam Mechanisms. the 26th International
Symposium on Industrial Robots, 267～272.
[12]孔建益，W.Funk 等，受控机构学的研究现状和发展展望，中国机械工程，
1995,9(1):55～57
[13]孔建益，W.Funk，具有一个受控原动件的五杆机构精确实现给定函数的研
究．中国机械工程，1996,7(专刊):106～108
[14]孔建益，W.Funk，具有一个受控原动件的五杆机构精确实现给定传动比的研
究，武汉冶金科技大学学报，1997,20(2):189～193
71
参考文献
[15]程光蕴,两自由度连杆机构精确实现平面轨迹的研究,东南大学学报，
1990,20(3):64～67
[16]周 洪，邹慧君，王石刚，混合输入型五杆轨迹机构的分析与设计，上海交
通大学学报，1999，33（7）：865～869
[17]周双林，邹慧君，郭为忠，姚燕安，平面闭链五杆机构柔性工作空间的研究，
机械工程学报.2001,36(11):10～15
[18]周双林，邹慧君，姚燕安，郭为忠，混合输入五杆机构构型的分析， 上海
交通大学学报，2001,35(7):1045～1048
[19]刘建琴,弹性连杆机构创成轨迹精度控制的理论与实验研究，[博士学位论
文]，天津：天津大学,2000
[20]田汉民，混合输入五杆机构的分析与综合，[硕士学位论文]，天津：天津大
学，2001，1
[21]张新华,实现轨迹创成的混合驱动可控机构分析与综合, [博士学位论文]，
天津：天津大学,2002.2
[22]Yan H.S., Tsai M.C., etc, A Variable-Speed Method for Improving Motion
Characteristics of Cam-follower Systems, ASME Journal of Mechanical
Design.1996, 118:250-258
[23]Yan H.S., Tsai M. C., etc, An Experimental Study of the Effects of Cam Speeds
on Cam-follower Systems, Mechanism and Machine Theory ,1996,31: 397-412
[24]Rong-Fong Fung Ken-Wang Chen Jia-Yush Yen, Fuzzy Sliding Mode
Controlled Slider-Crank Mechanism Using a PM Synchronous Servo Motor
Drive., International Journal of Mechanism Science. 1999,41
[25]Chew M., Plan M., Application of Learning Control Theory to Mechanisms, Part I:
Inverse Kinematics and Parametric Error Compensation; Part II: Reduction of
Residual Vibration in High-Speed Electro-Mechanical Bonding Machines, Proc.
of the 23th ASME Mech. Conf., Minneapolis MN, Sept, 1994
[26]Yao Yan-an, Zhang Ce, Yan Hong-Sen. Motion control of cam mechanisms,
Mechanism and Machine Theory, 2000，35: 593-607
[27]姚燕安，凸轮机构的主动控制，[博士学位论文]，天津：天津大学，1999
[28]姚燕安，颜鸿森，张策等，凸轮机构与伺服控制系统的集成设计，中国科学
（E 辑），2000，30（6）：524－530
[29]译自《日经机械》， 伺服成形设备可提高小型精密冲压零件的生产率， 机
电信息， No.1，1998（总第 208 期）
72
天津大学博士学位论文
[30]S.Yossifon, R.Shivpuri,. Analysis And Comparison of Selected Rotary Linkage
Drives For Mechanical Presses, International Journal of Machine Tools &
Manufacture. 1993, 33(2): 175-192
[31]S.Yossifon, R.Shivpuri, Design Considerations for the Electric Servo Motor
Driven 30 Ton Double Knuckle Press For Precision Forming, International
Journal of Machine Tools & Manufacture. 1993, 33(2): 193-208
[32]S.Yossifon, R.Shivpuri, Optimization of a Double Knuckle Linkage Drive with
Constant Mechanical Advantage for Mechanical Presses, International Journal of
Machine Tools & Manufacture. 1993, 33(2): 209-222
[33]叶云岳, 直线电机理论与应用，浙江大学研究生教材，1999
[34]叶云岳，新型直线驱动装置与系统，北京:冶金工业出版社，2000
[35]陆永辉，混合输入机构驱动曲柄压力机的研究，[硕士学位论文]，天津：天
津大学，2001
[36]卢宗武，可控压力机研究，[硕士学位论文]，天津：天津大学，2002，6
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