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.

Research on variable mass control of series manipulator based on linear active disturbance rejection control

“…It is impossible to maintain a consistent control effect in its working range using general control methods. 2…”

“…It is impossible to maintain a consistent control effect in its working range using general control methods. 2 Active disturbance rejection control (ADRC) is a control technology proposed by Professor Han Jingqing. In most of the control system design methods proposed by control theory, such as root locus technique, 3 pole assignment, 4 state feedback 5 and Lyapunov method, 6,7 these methods are based on model paradigm and precise modeling without considering the influence of disturbance.…”