提高锻造操作机工作速度的鲁棒非线性控制器设计

摘要

锻造操作机中控制钳杆位置和姿态的机构是锻造操作机机构中的一个重要机构,它对锻造操作机的工作速度起到决定性作用.为了在锻造操作机机械系统不变及液压系统基本不变的情况下提高该机构的响应速度,基于滑模控制方法为该机构设计了鲁棒非线性控制器.该控制器考虑了液压系统非线性及机构逆动力学两个影响显著的因素.针对某一型号锻造操作机的相似简化机构进行了该控制器和PID控制器的控制仿真,仿真结果表明,该鲁棒控制器可以在很大程度上提高该机构的响应速度,并且在负载质量大范围内变化时能够保证钳杆的位姿跟踪性能基本不变.%The mechanism controlling the position and orientation (PO) of the tong-carrier is the most important part in a forging manipulator, for it significantly affects the forging manipulator' s working rate. With the mechanism remained unchanged and the hydralic system rarely changed, a robust nonlinear controller was proposed to improve the performance of the control system. The controller was based on the sliding mode control method and took into account two significant factors, the nonlinearities of the hydraulic actuators and the inverse dynamics of the mechanism. Simulation results, using PID controller and using the proposed controller in the tracking control of the simplified similar model of a heavy manipulator, showed that the proposed controller could improve the mechanism' s working rate in a great extent and keep consistent PO tracking performance under large load variation.