Research On Design And Control Method Of Hydraulic System For Heavy Duty Machine Arm

In recent years,there is an urgent demand for 6 or more degrees of freedom autonomous hydraulic heavy duty manipulator in the fields of industry,aerospace,national defense and so on.The emergence of hydraulic heavy load manipulator liberates the workers from the heavy,bad and dangerous working environment,and greatly improves the production efficiency and economic benefit of the enterprise.In this paper,the 7-degree-of-freedom heavy-duty manipulator is taken as the research object,in order to realize the stable clamping and high-precision servo control of the heavy-duty manipulator,the overall design scheme and key parameters of the hydraulic system of the manipulator are determined,and the manipulator control system based on PID controller and fuzzy neural PID controller is designed respectively.The effect of the system is compared and the conclusion is drawn.Firstly,the design requirements of the hydraulic system of the heavy-duty mechanical arm are determined,the hydraulic basic circuit is selected and the system schematic diagram is designed;the key parameters of the hydraulic components are calculated,the corresponding type selection is carried out according to the key parameters,the pressure loss and the performance check of the system temperature rise are made for the whole hydraulic system;the mathematical modeling of the hydraulic servo system is built and the stability analysis is carried out,and the rationality of the design of the hydraulic system is verified.Secondly,the basic principles and respective characteristics of traditional PID control,fuzzy control and neural network control are introduced,and the fuzzy neural PID controller is selected to be applied to the control system of heavy load manipulator after comparison.PID controller and fuzzy neural PID controller are designed by using the corresponding controller toolbox in the simulink module of matlab software,and the specific structure and related parameters of the controller are determined.Finally,on the basis of the designed controller,the hydraulic system model and the control system model are built in Amesim and Simulink respectively,and the dynamic performance of the manipulator control system is simulated and analyzed by joint simulation technology after setting the relevant parameters of the model.The simulation results of the actuator of hydraulic heavy load manipulator under the control of PID controller and fuzzy neural PID controller are obtained respectively.By comparing the simulation results,it is concluded that the fuzzy neural PID network controller has better control effect than the traditional PID control in the hydraulic system of heavy duty manipulator.By comparing the simulation results,it is concluded that compared with the traditional PID control,the fuzzy neural network PID control has short response time,low overshoot and strong robustness in the hydraulic system of heavy duty manipulator.For different input signals,the output of fuzzy neural network PID is very stable and has a strong adaptability.