双锻造操作机大车行走系统控制方法探析

双锻造操作机配合压机联动完成大型高精长轴类锻件的锻造，可以有效提高锻造效率，提升锻件品质。针对双操作机夹持锻件同步行走控制难题，以燕山大学的两台20 kN锻造操作机为研究对象，综合考虑了吊挂系统、大车行走机械和液压系统的特点，搭建了双锻造操作机大车行走系统的数学模型。在此基础上，仿真研究了独立反馈位置同步控制方法、位置速度复合独立反馈同步控制方法和位置速度复合状态差值校正同步控制方法对双操作机大车行走系统控制特性的影响。仿真结果表明，对于动力性能差异较大的两台重载机械手，基于位置速度复合状态差值校正同步控制方法的控制效果最为理想，同时设定操作机A和操作机B的给定位移200 mm、加速度1000 mm/s2时，双操作机大车行走系统的动作响应时间为105 s，同步位置误差为［-0.28 mm，0.02 mm］。研究结果可为双锻造操作机控制提供技术支撑和理论指导，对于提升锻造产品质量和实现锻造生产线的智能控制具有重要意义。

Analysis on Control Method of Walking System of Dual Forging Manipulators

The dual forging manipulators cooperates with the press to complete the forging of large high-precision long shaft forgings, which can effectively improve the forging efficiency and quality. Aiming at the problem of synchronous walking control for the dual forging manipulator holding forgings, this paper took two 20 kN forging manipulators of Yanshan University as the research object and built the mathematical model of the dual forging manipulator walking system, which considered the characteristics of hanging system, cart walking machinery and hydraulic system. On this basis, the effects of independent feedback position synchronization control method, position velocity composite independent feedback synchronization control method and position velocity composite state difference correction synchronization control method on the control characteristics of the dual manipulators cart walking system were studied. The simulation results show that for the two heavy-duty manipulators with large differences in dynamic performance, the control effect based on the position velocity composite state difference correction synchronization control method is the most ideal. At the same time, when the positioning movement of the manipulator A and the manipulator B is set to 200 mm and the acceleration is 1000 mm/s2, the action response time of the dual manipulators cart walking system is 1.05 s and the synchronous position error is ［-0.28 mm, 002 mm］. The research results can provide technical support and theoretical guidance for the control of dual forging manipulators, which is of great significance for improving the quality of forged products and realizing intelligent control of forging production lines.