中文摘要：

为了对金属锻压成形设备中应用广泛的电液位置、压力复合控制过程进行优化,以阀控对顶加载液压缸系统为研究对象,详细分析了电液伺服复合控制系统的工作原理,分别建立了位置控制系统和压力控制系统的数学模型,利用开闭环PID型迭代学习算法不断修正控制输入,并采用一种信号前馈跟踪补偿的控制方法设计了位置-压力复合控制器。仿真结果表明：该方法的运用能有效消除复合控制过程中的冲击电压,实现了执行元件在位置闭环控制与压力闭环控制之间快速、平稳切换,有助于提高主机的控制性能和产品质量。

英文摘要：

For the optimization of electro-hydraulic position and pressure hybrid controlling process which are widely used in metal forging equipment,the working principle of electro-hydraulic servo hybrid control system was analyzed and the mathematical models of position pressure control system were established respectively according to the loaded cylinders system of valve control. The open-closed loop PID iterative learning algorithm was used to correct the control input,and a feedforward tracking compensation method was utilized to design a composite controller. The simulation result shows that the impulse voltage can be eliminated effectively to realize the actuator switching fast and smoothly between position and pressure closed-loop control,which will improve the control performance and quality of the products.