基于矩阵回路的锻造操作机能量回收及控制参数的设计方法

针对阀控式锻造操作机液压系统能源利用效率低、能耗大的问题，基于液压矩阵回路，利用泵/马达能量传递单元以及矩阵阀组的灵活组合，设计了能量回收液压系统，结合恒定压差的伺服控制方法，实现了对锻造操作机大车行走、夹钳下降两种动作的能量回收，为验证节能特性，进行了仿真和模拟实验。结果表明：夹钳下降动作中，蓄能器回收了重力势能的39.2%；大车行走过程中，蓄能器回收了惯性势能的37.1%；采用能量回收系统后，泵源输出能量比原系统减少约13%。能量回收液压系统及恒定压差伺服控制方法实现了对锻造操作机两种动作的能量回收，为多执行器系统的节能发展提供了指导。

Energy Recovery and Control of Forging Manipulators Based on Matrix Circuit

Aiming at the problems of high energy consumption and low energy efficiency of the valve-controlled forging manipulator hydraulic systems, based on the hydraulic matrix circuit, a hydraulic system of energy recovery was designed by the flexible combination of the pump/motor energy transfer units and matrix valve groups. Using servo control method of constant pressure difference, energy recovery was performed for the two operations of the forging manipulator's walking and clamp dropping. In order to verify the characteristics of energy saving, simulation and experiments were conducted. The results show that the accumulator recovers 39.2% of the gravitational potential energy during the dropping motions of the clamps, the accumulator recovers 37.1% of the inertial potential energy while the walking motions of the cart, and the pump output energy that with the energy recovery system is reduced by approximately 13% compared to the original systems. The energy recovery hydraulic system and the constant pressure difference servo control method realize the energy recovery of the two motions of the forging manipulators, which provides guidance for the energy saving development of the multi actuator systems.