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提出重载锻造操作机配合压机锻压时,主运动机构液压控制系统的力顺应性方法。以操作机的主运动机构为对象,建立其逆运动学和动力学模型;以压力为被控量,利用联合仿真技术,搭建提升液压控制系统模型;基于水平缓冲原理,推导出水平缓冲液压系统的模型。以锻件锻压过程中的变形为输入,通过仿真分析得到提升缸和缓冲缸的位移和力的变化规律,通过经典PID控制方法仿真分析验证了提升系统主动压力顺应性,以及缓冲系统被动顺应的有效性。
The force compliance method of the hydraulic control system of the main motion mechanism is proposed when the heavy-duty forging manipulator cooperates with the press forging. The main kinematic mechanism of the manipulator is taken as an object to establish its inverse kinematics and dynamics model. With the pressure as the controlled amount, the hydraulic simulation model is used to build the hydraulic control system model. Based on the horizontal buffer principle, the horizontal buffer hydraulic system Model. Through the simulation analysis, the displacement and force variation of the lifting cylinder and the buffer cylinder are obtained. The simulation and analysis of the classical PID control method verify that the active pressure compliance of the lifting system and the passive compliance of the buffer system are valid Sex.