Hydraulic System Modeling and Motion Control of Demotion Robots Working Equipment

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volumes 347-350)
• Pages: 588-593
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.347-350.588
• Online since: August 2013
• Authors: Yu Wan Cen, Ya Fen Jiang, Han Dong Zhang
• Keywords: demolition robot, Electro-Hydraulic Proportional System, Fuzzy Self-Adaptive PID, Position Control

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