The Research Of Forging Manipulator Electro-hydraulic Control System

Forging manipulator is the widely used forging machinery in the plastic forming process of large forging material. With the increasing demand for large forgings and high forging quality, forging industry and forging manipulator need to put forward higher technical level. Forging manipulator belongs to the large mechanical equipment with electro-hydraulic integration. Its characteristics of heavy load, large inertia and impact load which bring a great of difficulties to the transmission system design’s process. Therefore, the large forging manipulator’s hydraulic system and its control technology research have great points to the research of our country’s forging manipulators and even to the development of forging industry.Under the premise of extensively reviewing the related product information and the academic literature, current research situation and development trends of forging manipulator is overview in this article, meanwhile the control system of 20 t hydraulic swing type forging manipulator is designed. The critical control system’s mathematical model(driving system and clamp rotation system) of the forging manipulator is established, and control strategy of the two control system is analysised deeply. The idea of fuzzy PID control strategy is adopted, and fuzzy PID controller is finished under the MATLAB/Simulink swarm simulation toolkit. On the basis of the obtained results, the dynamic characteristics of forging manipulator driving system and clamp rotation system are simulation analysised with the AMESim swarm simulation toolkit.Finally, the 20 t forging manipulator product is trialed and researched. The driving system is studied with fast forging condition and normal forging condition, the clamp rotation system is trialed with different input angles. The simulation study and test results show that when the forging manipulator adopts fuzzy control strategy, the displacement error of running system and clamp rotation’s angle deviation can meet the design’s requirements. At the same time, the fuzzy PID simulation results and the trial results are basically consistent, which can further verify the correctness of the design scheme and simulation models. And achieve linkage control with forging machines, forging manipulator product performances meet the original design requirements.