Design And Research Of Electro-hydralic Proportional Position Control System For Nuclear Environment Robot Based On Fuzzy PID

With the continuous development of electro-hydraulic proportional technology,electro-hydraulic proportional technology has been widely used in the field of construction machinery.The electro-hydraulic proportional technology realizes the remote operation and automation of construction machinery,promotes the construction machinery to move towards robotization,and broadens the application field of construction machinery.The control of the electro-hydraulic proportional system is the key to ensure the robotization of construction machinery.Now many construction machinery have transformed the traditional hydraulic system with electro-hydraulic proportional technology.This thesis takes the nuclear environment robot developed by the research group as the research object.The hydraulic system of the robot has undergone electro-hydraulic proportional technical transformation without changing the original hydraulic operating system.In order to realize the trajectory tracking part of the remote automatic replacementtechnology for nuclear environment robots,the robot's electro-hydraulic proportional position control system is studied,and the fuzzy PID control algorithm is introduced for the time-varying and strong nonlinear problems in the electro-hydraulic proportional position control system And using AMESim and MATLAB to carry out joint simulation,the results show that the nuclear environment robot stick movement trajectory has been accurately tracked.The specific research work is as follows:1.The technical scheme of electro-hydraulic proportional transformation of nuclear environment robots is designed,and the nuclear environment robots are controlled by electrical signals.Starting from the single joint of the nuclear environment robot working device,taking the electro-hydraulic proportional position control system of the stick as an example,the software and hardware required for the control system are selected and designed,and the EPEC2024 controller is the main hardware control platform,using LabVIEW software The main control program of the nuclear environment robot was compiled to realize the computer operation control of the nuclear environment robot,which laid the foundation for the follow-up research.2.The composition and working principle of the electro-hydraulic proportional position control system of the nuclear environment robot are analyzed,and a simplified mathematical model of the stickelectro-hydraulic proportional position control system is established.At the same time,the physical simulation model of the control system is established using AMESim software.The model and physical model were analyzed and analyzed correspondingly.3.Aiming at the problem of large errors in the position tracking of nuclear environment robots,a fuzzy PID control algorithm suitable for nuclear environment robots is designed in MATLAB.The simulation research is carried out through AMESim / MATLAB joint simulation technology,and the simulation results show that the fuzzy PID control has better tracking performance of trajectories compared with the conventional PID control.4.In order to test the theoretical research of the above electro-hydraulic proportional position control system and the correctness of the built software and hardware platform,the PID control algorithm of the electro-hydraulic proportional position system based on nuclear environment robot was developed on LabVIEW software and experimental research was carried out.The rationality of the design of the environmental robot electro-hydraulic proportional position control system and the effectiveness of the control algorithm meet the trajectory tracking control requirements of the nuclear environmental robot electro-hydraulic proportional position control system.