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针对双液压马达驱动夹钳机构旋转时,存在的夹钳角位移控制精度不高和双液压马达偏载问题,提出了一种“模糊+负载均衡”的控制策略。首先结合双阀控液压马达模型,建立了夹钳旋转系统模型;其次,由于液压系统的强非线性和通道的不一致性,设计了PID类型的模糊控制器和带PID控制的负载均衡控制器,并进行了控制器参数优化设计。仿真和实验结果表明了采用PID类型的模糊控制能够满足夹钳角位移精度要求,和采用负载均衡控制策略能够极大的抑制马达“偏载”现象。因此提出的控制策略是有效的,有助于提高锻件的锻造质量和操作机的性能。
Aiming at the problem that the control accuracy of the clamp angle displacement is not high and the double hydraulic motor is overloaded when the double hydraulic motor drives the clamp mechanism to rotate, a “fuzzy + load balancing” control strategy is proposed. First of all, the model of the rotating system of the clamp was established with the model of double valve controlled hydraulic motor. Secondly, the fuzzy controller of PID type and the load balancing controller with PID control were designed due to the strong nonlinearity of the hydraulic system and the inconsistency of the channel. And the controller parameters optimization design. The simulation and experimental results show that the fuzzy control with PID type can meet the requirement of the precision of the angular displacement of the clamp, and the load balancing control strategy can greatly reduce the motor “partial load ” phenomenon. Therefore, the proposed control strategy is effective and helps to improve the forging quality of the forging and the performance of the manipulator.