中文摘要：

高质量的锻件成形需要大型模锻装备具备极低速稳定运行的能力,针对这一要求,提出内外层结合的控制策略：内层采用简单的比例反馈控制,降低速度的波动,起粗调与整定作用;外层采用子空间辨识与模型预测控制技术相结合的控制方法,起精确控制作用。仿真分析结果表明,新的控制方法能保证大惯量模锻装备在极低速下平稳运行,且比传统的模锻装备控制方法具有更好的效果。

英文摘要：

Steady operation of the large forging equipment on extremely low speed is needed in forging the forgings with high quality. In view of this question, the control strategy of combination with internal and external layer was proposed. The simple proportional feedback control was adopted in the inner layer, which can reduce the velocity fluctuations and play the role of coarse tuning and adjusting. The control strategy unites the subspace identification and the model predictive control method was adopted in the outer layer, which plays the role of delicate adjusting. The simulation results show that the steady operation of the large forging equipment on extremely low speed can be acquired with the new control method, and the result is better than the traditional control method.