Hydraulic system modeling and motion control of demotion robots working equipment
Based on the electro-hydraulic proportional system of a demolition robot working device,a simplified mathematical model was established by analyzing dynamic characteristics of the electro-hydraulic proportional valve,flow equation,the continuity equation and force equilibrium equations,and the fuzzy self-adaptive PID controller was designed to realize position control of working equipment.The simulations reveal that,compared with traditional PID,the fuzzy self-adaptive PID controller has these advantages such as smaller overshoot,good dynamic response and steady state performance.
demolition robot electro-hydraulic proportional system fuzzy self-adaptive PID position control
CEN Yu-wan JIANG Ya-fen ZHANG Han-dong
School of Mechanical Engineering Anhui University of Technology Maanshan, Anhui 243002, China School of Electrieal Engineering & Information Anhui University of Technology Maanshan, Anhui 243002 School of Electrical Engineering & Information, Anhui University of Technology, Maanshan, Anhui 2430
国际会议
太原
英文
265-269
2013-04-06（万方平台首次上网日期，不代表论文的发表时间）