Proceedings of the 2nd International Symposium on Computer, Communication, Control and Automation (ISCCCA 2013)

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

Authors
Yu-wan Cen, Ya-fen Jiang, Han-dong Zhang
Corresponding Author
Yu-wan Cen
Available Online February 2013.
DOI
https://doi.org/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.
Open Access
This is an open access article distributed under the CC BY-NC license.

Download article (PDF)

Volume Title
Proceedings of the 2nd International Symposium on Computer, Communication, Control and Automation (ISCCCA 2013)
Series
Advances in Intelligent Systems Research
Publication Date
February 2013
ISBN
978-90-78677-63-5
ISSN
1951-6851
DOI
https://doi.org/10.2991/isccca.2013.65How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

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  - https://doi.org/10.2991/isccca.2013.65
ID  - Cen2013/02
ER  -