Research and application of intelligent control method of small type loader actuator

DOI

10.2991/icmmcce-17.2017.230How to use a DOI?

Keywords

D-H method; Fuzzy adaptive PID Controller; Model Simulation

Abstract

This paper studies the control system of self-excavated excavator, which is based on the working device of the small type loader. Firstly, the kinematics model of the working device is established by D-H method, so that the trajectory planning of the vehicle speed, boom oil cylinder and bucket oil cylinder drive equation is obtained. Combined with the advantages of PID control and fuzzy control, the fuzzy adaptive PID controller of the actuator is designed. Finally, the simulation model of the hydraulic system position controller is built in Simulink. The simulation results show that the displacement error of the actuator is within 0.5mm.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Youping Gong
AU  - Ke Jiang
AU  - Tao Jin
AU  - Huipeng Chen
AU  - Dan Li
PY  - 2017/09
DA  - 2017/09
TI  - Research and application of intelligent control method of small type loader actuator
BT  - Proceedings of the 2017 5th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering (ICMMCCE 2017)
PB  - Atlantis Press
SP  - 1304
EP  - 1309
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmcce-17.2017.230
DO  - 10.2991/icmmcce-17.2017.230
ID  - Gong2017/09
ER  -