大型模锻装备极低速稳定运行是制造高性能复杂整体锻件的一大关键。但复杂的非线性摩擦力、液压力与锻件变形力致使大型模锻装备在极低速运行时极易出现速度振荡甚至爬行，难以实现模锻压机极低速稳定运行控制。针对该问题，建立复杂锻造过程的非线性模型，提出基于非线性振动分析理论的模锻压机速度求解方法，实现了模锻压机速度的近似求解。在此基础上，推导大型模锻装备极低速运行规律，揭示极低速稳定运行、振荡与爬行条件。通过对模锻压机复杂锻造过程进行仿真与试验，结果表明了速度模型与运行条件的正确性与精确性，为大型模锻压机极低速稳定运行控制提供了理论基础。

The steady operation under extremely low speed of large die forging equipment guarantees the high-performance complex overall die forgings in manufacturing. However, under extremely low speed circumstance, the complex nonlinear friction, hydraulic pressure and material deformation force will cause speed shock even crawling phenomenon. Consequently, the precise control is difficult to obtain at extremely low speed. In view of this question, nonlinear model of complex die forging process is developed at first. Based on the analysis of nonlinear vibration theory, the press speed solving method is proposed, which realizes the approximate solution of the press speed. On this basis, large die forging equipment’s operation rules and reveals the stable operation, speed shock and crawling conditions of large die forging equipment on extremely low speed are analyzed. The simulation results of nonlinear model of complex die forging process verify the correctness of operation rules and the accuracy of speed model. These results provide a theoretical basis for the stable operation precise control of large die forging press under extremely low speed.