SHANDONG SCIENCE ›› 2016, Vol. 29 ›› Issue (4): 99-105.doi: 10.3976/j.issn.1002-4026.2016.04.019

• Other Research Article • Previous Articles     Next Articles

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

GUO Xiang-yang 1,LU Shou-yin1，GAO Peng2,LIU Cun-gen1，HU Tao1   

  1. 1.Robotics and Intelligent System Institute, Shandong Jianzhu University, Jinan 250101, China;
    2. Shandong Urban and Rural Planning Design Institute, Jinan 250013, China
  • Received:2016-06-02 Published:2016-08-20 Online:2016-08-20

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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

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