Hydraulic system modeling and motion control of demotion robot’s working equipment

DOI

10.2991/isccca.2013.65How to use a DOI?

Keywords

demolition robot, electro-hydraulic proportional system, fuzzy self-adaptive PID, position control

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.

Copyright

© 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/).

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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  -