基于速度预测的锻造操作机大车定位控制研究  

Crane Positioning Control of Forging Manipulator Based on Speed Prediction

作　　者：刘晨荣 魏海涛 张晓丽 王宏亮 LIU Chen-rong;WEI Hai-tao;ZHANG Xiao-li;WANG Hong-liang(Energy Equipment Engineering Research Institute,Lanzhou Ls Group Co.,Ltd.,Lanzhou,Gansu 730314)

机构地区：[1]兰州兰石集团有限公司能源装备研究院,甘肃兰州730314

出　　处：《液压与气动》2022年第10期182-188,共7页Chinese Hydraulics & Pneumatics

摘　　要：基于仿真技术分析锻造操作机制动过程,指出马达出口压力控制是操作机制动控制的关键,采用比例溢流阀控制马达出口侧压力,可解决操作机停车振荡,实现操作机平稳快速停车。利用速度反馈比例控制溢流阀,当比例增益一定时,操作机制动距离与制动瞬时操作机的速度满足二次函数关系。为提高定位精度,引入比例增益补偿系数,并在大量仿真基础上总结了速度反馈比例增益及补偿系数的计算方法。提出基于速度预测的锻造操作机大车定位控制方法,仿真验证提出的控制方法有效,对于目标操作机任意指定步长,其定位精度均可达到±0.5 mm。Based on the simulation technology, the braking process of forging manipulator is analyzed, and pointed out that the control of motor outlet pressure is the key to the braking control of manipulator. The proportional overflow valve is used to control the pressure at the outlet of motor, which can solve the parking vibration of manipulator and realize the stable and rapid parking of manipulator. When the proportional gain is constant, the braking distance of manipulator and the speed of manipulator at the moment of braking meet the quadratic function. In order to improve the positioning accuracy, the proportional gain compensation coefficient is introduced, and the calculation method of speed feedback proportional gain and compensation coefficient is summarized on the basis of a large number of simulations. On this basis, a crane positioning control method of forging manipulator based on speed prediction is proposed. The results show that the control method proposed is effective, and its positioning accuracy can reach ±0.5 mm for any specified step of the target manipulator.

关 键 词：锻造操作机 制动优化 速度预测 补偿控制 

分 类 号：TH137[机械工程—机械制造及自动化]