The Research of Manipulator’s Hydraulic Driven System on Fuzzy Immune PID Control

Abstract:

A manipulator's hydraulic driven system is an uncertain and nonlinear complex dynamics. Its research is not much at present. The report designed an electro-hydraulic driven control program that high speed on/off valve is worked as the pilot valve for logical cone valve, making up hydraulic driven system of high-power manipulator. For its control problem such as complex, uncertain and nonlinear dynamic, use a fuzzy immune PID control method that the PID controller parameters are on-line tuned by immune feedback mechanism and fuzzy reasoning respectively. With the harsh conditions of the square wave as an input signal, respectively examine response curve of the system using control strategy of the traditional PID and the fuzzy immune PID. Simulation results show that fuzzy immune PID obtains better control performance and robustness, and is superior to the traditional PID. It is fit for control of hydraulic driven system for manipulator.

• Periodical: Applied Mechanics and Materials (Volumes 220-223)
• Pages: 1817-1822
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.220-223.1817
• Online since: November 2012
• Authors: Zhong Liu, Deng Liu, Lan Zhong Guo
• Keywords: Fuzzy Immune PID, High-Speed On/Off Valve, Hydraulic Driven Control System, Logical Cone Valve, Manipulator, Pilot Control, Robustness

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DOI: 10.1299/jsmec.41.184