Application of Fuzzy PID Position Control Algorithm in Motion Control System Design of Palletizing Robot

Xu, Junjie; Xiao, Long; Lin, Muquan; Tan, Xiaojing

doi:10.1155/2022/8720960

Cited by 6 publications

(8 citation statements)

References 18 publications

(16 reference statements)

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“…In summary, The hydraulic motor output shaft rotation angle u, hydraulic motor output shaft speed du/dt, and hydraulic motor oil inlet pressure P L are selected as the state variables x 1 , x 2 , x 3 , the current i is taken as the input variable, and the output angle u and torque T 0 of the hydraulic motor are taken as the output variables combined with the above equations (1)∼( 3) and ( 14)∼ (16). The state space model of the system is constructed as follows:…”

Section: Electro-hydraulic Control Scheme and Mathematical Modeling O...mentioning

confidence: 99%

“…Therefore, the range of the fuzzy set can be set to be very small. In this paper, the value range of the fuzzy set is set to [À6, 6] according to the reference [22]. Its input can be expressed as:…”

Section: Design Of Fuzzy Wavelet Neural Networkmentioning

confidence: 99%

“…However, the traditional PID controller is difficult to achieve an ideal control effect for such a complex valve-controlled hydraulic motor system. According to the opinions of references [11][12][13], fuzzy control doesn't require precise mathematical models of the controlled object and has strong robustness [14][15][16]. According to references [17,18], fuzzy PID control has been widely used in the field of robot control in complex environments.…”

Section: Introductionmentioning

confidence: 99%

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Improved fuzzy neural network control for the clamping force of Camellia fruit picking manipulator

Fan,

Li,

Liao

et al. 2023

Mechanics & Industry

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During the operation of the vibrating mechanism, the push-shaking camellia fruit picking manipulator needs to ensure a constant force output of the clamping hydraulic motor in order to make sure that the camellia fruit tree trunk wouldn't loosen or damage, which may affect its later growth, during the picking process. In this regard, this paper derived the state space model of the valve-controlled clamping hydraulic motor system of the push-shaking camellia fruit picking manipulator, and the fuzzy wavelet neural network (FWNN) was designed on the basis of the traditional incremental PID control principle and the parameters of the neural network were optimized by the improved grey wolf optimizer (GWO). And then, the control system was simulated with the MATLAB/Simulink software without and with external interference, and compared and analyzed it with traditional PID controller and fuzzy PID (FPID) controller. The results show that the traditional PID controller and the FPID control have slow response and poor robustness, while the improved fuzzy wavelet neural network PID (IFWNN PID) controller possesses the characteristics of fast response and strong robustness, which can well meet the requirement of the constant clamping force of hydraulic motors. Finally, the field clamping test was carried out on the picking manipulator. The results show that the manipulator controlled by the IFWNN PID controller shortens the clamping time by 20.0% and reduces the clamping damage by 13.6% compared with the PID controller, which is verified that the designed controller can meet the clamping operation requirements of the camellia fruit picking machine.

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Section: Electro-hydraulic Control Scheme and Mathematical Modeling O...mentioning

confidence: 99%

Section: Design Of Fuzzy Wavelet Neural Networkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Improved fuzzy neural network control for the clamping force of Camellia fruit picking manipulator

Fan,

Li,

Liao

et al. 2023

Mechanics & Industry

View full text Add to dashboard Cite

show abstract

“…However, the traditional PID controller cannot achieve an ideal control effect for such a complex valve-controlled hydraulic motor system. According to the opinions of references (Lin et al, 2019;Wang and Huang, 2019;Kong and Yuan, 2020), fuzzy control does not require precise mathematical models of the controlled object and has strong robustness (Tufan and Serhat, 2022;Han et al, 2022;Xu et al, 2022). According to the research results from Xue and Fan (2022) and Wu et al (2022), fuzzy PID control has been widely used in robot control in complex environments.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy neural network PID control design of camellia fruit vibration picking manipulator

Fan,

Li,

Gao

2023

J. Agric. Eng.

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Due to the growth characteristics of the flowers and fruits of camellia in the same period, the vibrating camellia fruit picking machine needs to ensure the constant rotational speed of the vibrating hydraulic motor when the picking mechanism is operating, to achieve a constant vibration frequency, to ensure that the camellia fruit can smoothly fall off the branches through vibration. In contrast, the camellia fruit does not fall off. In this regard, this paper deduced the state space equation of the camellia fruit picking machine’s valve-controlled vibrating hydraulic motor system and designed a fuzzy wavelet neural network PID controller (FWNN PID controller) based on the traditional incremental PID control principle. Then the designed vibration picking manipulator control system was simulated under no-load, 5 s load conditions, and load start conditions with MATLAB/Simulink, a general PID controller and a fuzzy RBF neural network PID controller (FRBFNN PID controller) were used to contrast with it. The results show that the general PID controller has a slow response speed and poor robustness, while fuzzy neural network PID controllers (including FWNN PID controller and FRBFNN PID controller) have a fast response speed and strong robustness, which can well meet the requirements of a specific vibration frequency. Finally, a field test was carried out. The results show that the FWNN PID control is better than the FRBFNN PID control. Furthermore, the FWNN PID controller obviously reduced the drop rate of camellia flowers within 6% while ensuring the picking efficiency above 90%, which can well meet the needs of the camellia fruit picking operation.

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“…During the construction of power transmission and transformation lines, it is necessary to inspect and involve the actual situation to ensure the implementation of the grounding wire project and ensure that the project has a certain degree of standardization. At the same time, through focused research and discussion on the construction technology of grounding wires, the specific application of common grounding wire construction technologies is discussed, providing effective references for promoting innovation and reform of transmission and transformation line construction technology, creating a solid foundation for the development of construction technology, and providing conditions for technological innovation[16]. The use of construction technology for grounding wires can effectively improve the operational efficiency of power lines, ensure the safety of construction during the construction of transmission and transformation lines, and reduce construction risks.…”

mentioning

confidence: 99%

Application of Control Algorithm in the Design of Automatic Crimping Device for Connecting Pipe and Ground Wire

Sheng,

Xing,

Cai

et al. 2024

SCPE

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Due to the low effectiveness and poor quality of manual crimping of grounding wires, the author proposes the design of an automatic crimping device for connecting tube grounding wires based on intelligent fully automatic technology. The device consists of a microcontroller, an upper computer control interface, an electric push rod, an infrared sensor, a pressure transmitter, and other devices. The staff used the upper computer monitoring interface to set the relevant parameters for grounding wire crimping, and used X-ray digital imaging technology to measure the crimping size of the grounding wire. The size met the set parameter conditions. Through the PID control algorithm in the microcontroller, the stepper motor was controlled to push the clamp to move, completing the automatic crimping of the grounding wire. The X-ray detection method was introduced to detect the quality of the grounding wire after the crimping was completed. The experimental results show that the average deviation between the measured crimping size of the grounding wire and the actual measurement size by the automatic crimping device is only 0.06 mm, indicating that its measurement results are accurate; The success rate of crimping exceeds 95%. The above experimental results verify that the designed crimping device has high stability and reliability, and good quality detection effect.

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Application of Fuzzy PID Position Control Algorithm in Motion Control System Design of Palletizing Robot

Cited by 6 publications

References 18 publications

Improved fuzzy neural network control for the clamping force of Camellia fruit picking manipulator

Improved fuzzy neural network control for the clamping force of Camellia fruit picking manipulator

Fuzzy neural network PID control design of camellia fruit vibration picking manipulator

Application of Control Algorithm in the Design of Automatic Crimping Device for Connecting Pipe and Ground Wire

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