CAJ | 학술논문

基于运动链图拓扑图库,提出一种新型六自由度前后双提升驱动锻造操作机工作装置. 该装置不仅可以控制夹钳提升的同步性,还能更好地适应偏载工况. 基于虚功原理建立了该新型锻造操作机主运动机构的动力学模型,并结合液压缸系统模型,设计模糊PID控制器实现对锻造操作机夹钳末端的运动跟踪. 对夹钳在竖直平面运动进行轨迹规划并确定运动过程中液压驱动各单元所需提供的驱动力. 基于Matlab/Simulink平台搭建控制系统仿真模型,在给定负载情况下,分别对夹钳的竖直提升运动、水平运动以及俯仰运动进行仿真分析,得到系统单位阶跃响应与正弦响应跟踪曲线及误差曲线. 研究结果表明:基于该新型锻造操作机,采用模糊PID控制器能够快速、精确地获得新机构的性能参数并高效地完成跟踪,使系统保持良好的稳态性能与动态特性.
기우운동련도탁복도고,제출일충신형륙자유도전후쌍제승구동단조조작궤공작장치. 해장치불부가이공제협겸제승적동보성,환능경호지괄응편재공황. 기우허공원리건립료해신형단조조작궤주운동궤구적동역학모형,병결합액압항계통모형,설계모호PID공제기실현대단조조작궤협겸말단적운동근종. 대협겸재수직평면운동진행궤적규화병학정운동과정중액압구동각단원소수제공적구동력. 기우Matlab/Simulink평태탑건공제계통방진모형,재급정부재정황하,분별대협겸적수직제승운동、수평운동이급부앙운동진행방진분석,득도계통단위계약향응여정현향응근종곡선급오차곡선. 연구결과표명:기우해신형단조조작궤,채용모호PID공제기능구쾌속、정학지획득신궤구적성능삼수병고효지완성근종,사계통보지량호적은태성능여동태특성.
Based on the kinematic chain map topological gallery, a new-type of six-DOF forging manipulator that has front and rear lifting drivers is proposed. The device can not only improve the synchronicity lifting of the clamp, but also adapt to the working condition better. A dynamics math model of the major-motion mechanism was established based on the principle of virtual work, combined with the dynamic model of the hydraulic cylinder to determine the driving force of hydraulic drive unit during the movement of manipulator clamp. On this basis, fuzzy PID controllers were designed to control the hydraulic drive units to realize the trajectory tracking of the manipulator clamp. In the process, the control system model was established in the Matlab/Simulink. Under the condition of a given load, the Matlab/Simulink software was used to do manipulator dynamics simulation about the clamp vertical lifting movement, horizontal motion and pitch motion, eventually getting the system unit step response, sine tracking response curve and error curve. Results show that the fuzzy PID controller can quickly and accurately obtain the parameters of the new forging manipulator's performance and complete tracking efficiently, allowing the system to maintain a good steady－state performance and dynamic performance.