Forging manipulator cart walking control method, system and equipment and medium

The invention provides a forging manipulator cart walking control method, system and device and a medium, and the method comprises the steps: building a radial basis function neural network model based on an initialization system PID parameter and a radial basis function neural network initial value; based on establishment of a radial basis function neural network model, sampling is performed to obtain a given value and a current value of system cart displacement, and control errors and system controller output are calculated; using the built radial basis function neural network model to obtain the output and system identification information of the current network; pID parameters of the system controller are corrected through a gradient descent method, parameters of the radial basis function neural network are adjusted, and a radial basis function neural network model is formed and updated; sampling at the next moment until forging is finished; according to the method, the radial basis function neural networ