Design of the Driving and Clamp Rotation Hydraulic Control System for the Heavy Load Forging Manipulator

• Published in: MATEC web of conferences Vol. 31; p. 3012
• Main Authors: Li, Geqiang, Wang, Shuai, Guo, Bingjing, Li, Yuesong
• Format: Journal Article Conference Proceeding
• Language: English
• Published: Les Ulis EDP Sciences 01-01-2015
• Subjects: Computer simulation; Control systems; Control systems design; Dynamic characteristics; Field tests; Forging; Fuzzy control; Fuzzy systems; Hydraulic control; Hydraulic equipment; Hydraulics; Manipulators; Proportional control; Proportional integral derivative; Rotation
• ISSN: 2261-236X; 2274-7214; 2261-236X
• DOI: 10.1051/matecconf/20153103012

The manipulator was equipped with full hydraulic drive. We designed the hydraulic systems for the driving and clamping rotation. We used a fuzzy PID control strategy to design the electro-hydraulic proportional control system. We built a united simulation model based on the co-simulation of MATLAB/Simulink and AMEsim. A mathematical model of the system was also established. We did separate simulations of the system’s dynamic characteristics for fast forging and normal forging working conditions. The parameters were optimized. The field test shows that the steady-state error of the hydraulic system is small and the system response is fast. The system’s rapid response speed, high precision, and stability under heavy load were realized.