基于制动工况的平行连杆式锻造操作机控制精度研究

制动工况所产生的惯性冲击严重影响着操作机的工作精度,并限制其快速响应能力。针对平行连杆式锻造操作机,利用拉格朗日方程法建立了制动工况下悬挂系统动力学模型,分析了系统中回弹装置和缓冲装置的耦合性能对系统控制精度的影响,研究了减少操作机控制精度误差的思路。以300 k N锻造操作机为例,采用Matlab求解动力学微分方程,获得了制动工况下的回弹装置和缓冲装置对悬挂系统转臂摆角、吊杆摆角和钳杆质心的变化规律,明确了悬挂系统中回弹装置和缓冲装置的耦合性能对提高操作机控制精度的作用。并利用Adams软件对操作机进行动力学仿真,得到了制动工况下悬挂系统中回弹装置和缓冲装置的耦合性能对系统振动影响的仿真实验曲线,进一步验证了理论分析的可行性与合理性。

Study on control precision of parallel link-forging manipulator under braking condition

The working accuracy and fast-response ability of the forging manipulator is severely restricted by the inertial impact effect caused by braking condition.For the parallel link-forging manipulator, the dynamics model of suspension system was built by Lagrange equation under the braking condition.Then, the influences of coupling performance of the springback device and buffer device in the system on the control precision were analyzed, and the method of reducing the error of manipulator control precision was researched.Taking the 300 kN forging manipulator as an example, the dynamic differential equation was solved by Matlab, and the influence regulation of the springback device and buffer device under the braking condition on the tumbler swing angle, the hanging bar swing angle and the clamping bar centroid was obtained.Furthermore, the springback device and buffer device coupling performance on improving the manipulator control precision was confirmed.Finally, the dynamic simulation on manipulator was conducted, and the simulation experiment curve influencing of the springback device and buffer device coupling performance in the suspension system under the braking condition on system vibration was obtained.The feasibility and rationality of the theoretical analysis were verified further.