Abstract
Asynchronous coupling force of dual forging manipulator frequently results in poor forging and even equipment failure. In this paper, a synchronous control strategy in dual forging manipulator systems (DFMS) is proposed to stabilize its operation. Kinematic model of the hanging system and finite element model of the forgings are established to investigate the relationships of tension, forging deformation and deformation rate. The rigid-flexible coupling model of DFMS is further established and simulated concerning hydraulics, mechanics and controls. A correction based on the independent feedback state difference is concerned, simulated results show good agreements with experimental data, validating the dead zone compensation algorithm of the proportional valve. Moreover, by the control strategy, the vertical synchronous error of the pincers end is rather small as ± 0.125 mm. The methodology presented in this paper represents a fundamental step towards the cooperation of DFMS and the press to realize collaborative operations.
Highlights
The synchronous movement of dual forging manipulator systems (DFMS) lifting operation is often determined by multiple actuators
A synchronous control strategy is needed to coordinate the synchronous control of the hoist cylinder
A dead-zone compensation algorithm is proposed for the proportional valve and is validated by simulation and experiment
Summary
Asynchronous coupling force of dual forging manipulator frequently results in poor forging and even equipment failure. The above researches mainly relate to the synchronous control method of single forging manipulators and hydraulic systems. With high load, large inertia and strong nonlinearity of clamping systems, a large synchronous coupling force frequently occurs during the lifting process, degrading the forging quality or even damaging the equipment[14].
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