中文摘要：

基于高性能复杂整体模锻件要求大型模锻压机必须具备全行程精确锻造的能力,而模锻过程中存在时变载荷、非线性摩擦力与非线性液压驱动力使得模型存在时变特征,导致现有的基于单一模型的控制方法控制精度不高等问题,提出一种多控制器集成策略。该策略首先将全锻造过程分解成许多个子工作区,并基于以前的仿真数据建立相应的CAR子模型;其次,根据子模型特点,调节各子模型的PID控制器参数。基于任一子模型控制器都不能很好地处理这种子模型之间的耦合关系和突变情况,需要协调各个子控制器以达到全局控制的目的,提出高斯加权器,以实现模锻压机的全程精确平滑控制。研究结果表明：该控制策略控制精度较高,且比传统的PID控制方法好。

英文摘要：

The whole high-performance complex die forging requires that large forging press must have the ability of implementing precise forging in its full stroke. However, because of the time-varying forging load, nonlinear friction and nonlinear hydraulic drive force, system＇s model on different forging conditions would be time-varying, and therefore applying the existing control method with single model is difficult to achieve high control precision. In view of this problem, a multi-controller integrated strategy based on forging process＇ s workspace decomposition was proposed. First, the whole forging process was divided into many sub-forging workspaces. And then, the corresponding CAR sub-models were established using previous experimental data. Based on the characteristics of different sub-models, the corresponding PID sub-controllers＇ parameters were also designed. Since sub-controller couldn＇t handle the coupling relation and mutations between sub-models, these sub-models should be coordinated to reach global control goal. In order to deal with this problem, Gaussian-weighted controller was proposed to achieve the overall control and to realize smooth precise control in the press＇ full stroke. The results show that the control strategy can effectively achieve the desired control accuracy and has better effect than the conventional PID control method.