基于模糊-PID控制的水冲洗机器人液压伺服控制系统

doi:10.3976/j.issn.1002-4026.2016.04.019

Abstract

Abstract:

Water cleaning robot of a substation is a special robot. It is developed for the issue of "Pollution Flashover" of 220 kV substation. We establish a mathematical model for nonlinear characteristic of its hydraulic servo system. We further present a fuzzyPID control scheme for the model and perform Matlab simulation and practical substation experiment under ideal and interfered conditions. Results show that the scheme can improve the accuracy of its hydraulic servo control, and has certain interference suppression capability.

Key words: fuzzy-PID control, water cleaning robot, hydraulic servo control system, simulation

CLC Number:

TP242

GUO Xiang-yang,LU Shou-yin,GAO Peng,LIU Cun-gen，HU Tao. Fussy-PID control based hydraulic servo control system of water cleaning robot[J].SHANDONG SCIENCE, 2016, 29(4): 99-105.

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Fussy-PID control based hydraulic servo control system of water cleaning robot

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