Synchronous control method for the walking system of the dual forging manipulators based on triangular velocity planning

Abstract

The primary function of the dual forging manipulators’ walking system is to precisely control the axial feeding of forgings. The stability and control accuracy of this system significantly impact forging quality and production efficiency. To achieve synchronized position control, a mathematical model was developed using two 20 kN forging manipulators as the research subjects. Subsequently, a triangular velocity trajectory planner was devised to examine the effects of acceleration, start–stop coefficient, and peak coefficient on the control behavior of the system. Lastly, the efficacy of this control method, which employing triangular velocity planning (TVP) for displacement–velocity composite control, was confirmed through equivalent experiments. The results indicate that this method can effectively regulate the response dynamics of two walking systems, with a displacement difference of less than 1 mm between the two manipulators.

Keywords:

• Dual forging manipulators
• synchronous control
• walking system
• triangular velocity planning

Acknowledgments

The authors would like to thank the journal Mechanics Based Design of Structures and Machines for supporting the study on design of machines over the years. The authors would like to thank the reviewers for their valuable opinions on this study and also thank the National Natural Science Foundation of China (52175064) for providing financial support for this study.

Disclosure statement

No potential conflict of interest was reported by the authors.