锻压技术

基于前馈跟踪补偿的精锻机空心锻芯棒电液伺服运动控制方法

英文标题：Electro-hydraulic servo motion control method for hollow forging mandrel of precision forging press based on feedforward tracking compensation

作者：蔺素宏1 2 寇艳艳3 雷丙旺3

单位：1.太原理工大学机械工程学院 2.太原理工大学先进成形与智能装备研究院 3. 内蒙古北方重工业集团有限公司

关键词：精锻机振动冲击速度前馈 PI控制算法定位精度

分类号：TG315.4

出版年,卷(期):页码：2025,50(3):170-175

摘要：

为了解决精锻机芯棒小车马达在启动时存在较大振动冲击的问题，系统分析了精锻机芯棒运动电液伺服控制原理；建立了电液伺服系统各个元件的数学模型，利用Matlab/Simulink仿真平台搭建了芯棒运动小车电液伺服控制仿真模型；分别设计了芯棒小车的运动控制器，以及基于前馈跟踪补偿的电液伺服闭环控制器。仿真与试验结果表明：基于前馈跟踪补偿的电液伺服运动控制算法可以控制芯棒小车平稳运行，解决了小车启动时芯棒冲击的问题；速度前馈的引入可有效减少位移跟踪误差；对比不同速度前馈系数下的跟踪误差，发现当速度前馈系数为0.5时，系统的跟踪误差最小，控制效果最佳。

For the problem of significant vibration and impact in the motor of precision forging press mandrel trolley during startup, the electro-hydraulic servo control mechanism for mandrel movement in the precision forging press was systematically analyzed. Mathematical models of each component in the electro-hydraulic servo system were established. A simulation model for electro-hydraulic servo system of the mandrel movement trolley was developed using the Matlab/Simulink simulation platform. The motion controller of the mandrel trolley and the electro-hydraulic servo closed-loop controller based on feedforward tracking compensation were respectively designed. Simulation and experimental results demonstrate that the electro-hydraulic servo motion control algorithm based on feedforward tracking compensation can control the mandrel trolley to run smoothly, thus solving the problem of mandrel impact during trolley startup. The implementation of speed feedforward significantly reduces the displacement tracking errors. By comparing the tracking errors under different speed feedforward coefficients, it is found that when the speed feedforward coefficient is 0.5, the tracking error of the system is the smallest and the control effect is the best.

基金项目：

国防基础科研计划（JCKY2022208A002）

作者简介：蔺素宏（1990-），男，博士，实验师 E-mail：linsuhong@tyut.edu.cn

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