Hydraulic system modeling and motion control of demotion robot’s working equipment
- 10.2991/isccca.2013.65How to use a DOI?
- demolition robot, electro-hydraulic proportional system, fuzzy self-adaptive PID, position control
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.
- © 2013, 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/).
Cite this article
TY - CONF AU - Yu-wan Cen AU - Ya-fen Jiang AU - Han-dong Zhang PY - 2013/02 DA - 2013/02 TI - Hydraulic system modeling and motion control of demotion robot’s working equipment BT - Proceedings of the 2nd International Symposium on Computer, Communication, Control and Automation (ISCCCA 2013) PB - Atlantis Press SP - 265 EP - 269 SN - 1951-6851 UR - https://doi.org/10.2991/isccca.2013.65 DO - 10.2991/isccca.2013.65 ID - Cen2013/02 ER -