中文摘要：

针对等温锻造中模锻液压机低速运行时液压系统泄漏影响模锻液压机稳定性的问题,运用AMESim和MATLAB/Simulink软件建立了考虑系统泄漏模型的模锻液压机极低速驱动液压控制系统的联合仿真模型,并通过实验验证了该仿真平台的有效性与精确性。分析了系统泄漏对低速性能的影响,提出了常规PID泄漏补偿控制方法和基于PID的复合泄漏补偿控制方法,并对两种方法的补偿效果作了比较。仿真结果表明基于PID的复合泄漏补偿控制方法效果更好,超调量降低至3.4%,最大系统稳态误差减小至0.686%。

英文摘要：

Leakage of hydraulic system will affect the stability of die forging press under ultra-low velocity in the isothermal forging process.Aiming at this problem,the co-simulation model considering the leakage of the system and hydraulic control system of the die forging press under ultra-low velocity was established based on the AMESim and Matlab/Simulink software platform.And the availability and accuracy of the simulation model was proven by experiments.The effects of leakage on the ultralow velocity performance of the system were analyzed,and then the conventional PID leakage compensation control method and the compound compensation control strategy based on PID were proposed.And the validity of the two kind of methods of compensation was investigated.Simulation results show that the compound compensation control method based on PID is better than the conventional PID leakage compensation control scheme,the overshoot is reduced to 3.4%,and the maximum steady？state error of the system is decreased to 0.686%.