Study On Trajectory Planning And Electro Hydraulic Control Of Hydraulic Manipulator

As one of the main mechanical equipment in construction machinery,hydraulic manipulator is widely used in many industries.With the continuous development of the industry,hydraulic manipulator to improve work efficiency and reduce energy consumption,this will mean that the hydraulic mechanical hand toward the development of automation.In this paper,the control of the working track of the hydraulic manipulator is the premise of realizing its automation,and the kinematics analysis of the hydraulic manipulator is carried out,and the control method is mainly studied.In this paper,based on the research of the hydraulic manipulator kinematics,completed transformation between the manipulator trajectory and the length of hydraulic cylinder and joint corner;Study of the hydraulic system of hydraulic manipulator at the same time,and carries on the improvement of electric hydraulic servo valve of the hydraulic control module to replace the traditional multi-way valve,hydraulic manipulator to realize the position control of the hydraulic cylinder,and a mathematic model of the hydraulic mechanical flashlight fluid control system;Study of its trajectory planning method,on the premise of the analysis of the manipulator trajectory planning method,put forward the planning principles of based on time and set the end of the manipulator trajectory,the linear motion trajectory by Matlab simulation,get the end of the manipulator trajectory under the movement of the hydraulic cylinder length and the change of the joint Angle;To study control method,the application of PID control to the forearm subsystem and trajectory control system,the control effect is not very ideal,so fuzzy PID control method is proposed,and the controller design,finally to replace PID control applied to the control system,get better control effect,to verify the effectiveness of the fuzzy PID control performance is good,both for hydraulic manipulator trajectory planning provides a better control method,provide the basis for the automation.