Modeling and PID control of the hybrid-driven mechanical press

According to the equivalent circuit of the DC motor, the dynamical model of the motor is investigated firstly. Then, the dynamical model for the hybrid-driven press is developed using Lagrangepsilas formulation. The systempsilas equation is derived using expressions for the system energy function, its partial and time derivatives with respect to the defined generalized coordinates. The dynamical equation is then transformed into a system of first order equations. Based on the control theory, the PID control model of the hybrid-driven press is set up. Then the proportional gain, differential gain and integral gain are optimized. The fourth order Runge-Kutta method is chosen as the integration technique of computer simulation and the time history of the hybrid-driven press is obtained.