Design of Electronic Drive Control System of the Hydraulic Joints of the Manipulator

Abstract

To further improve the control system of the manipulator, the manipulator of the jumbo is taken as the research object. According to the working process of the jumbo and the structure of the manipulator, the electronic drive control system of the hydraulic joints of the jumbo manipulator is designed. Firstly, the overall scheme of the electronic drive control system of the hydraulic joints of the jumbo manipulator is designed, which includes three parts: information collection, information processing, and actuators. Secondly, through the selection of fuzzy subsets and membership functions, the determination of variable domains, quantization factors and proportional factors, and the establishment of fuzzy control rules, fuzzy Proportion Integration Differentiation (PID) controller is designed, and the overall design and software and hardware system of the electronic drive control system of the hydraulic joints of the jumbo manipulator are studied. Finally, the fuzzy controller is designed and simulated through Matrix Laboratory (MATLAB) software. The results show that the rising time of the fuzzy PID controller is about 0.3 seconds, while the rising time of the conventional PID control is about 1 second. Compared with the conventional PID control, the overshoot of the fuzzy PID controller is smaller and can be fast and stable. When disturbed by the 10,000N external load, the fuzzy PID controller responds faster. The maximum peak range is about 1.13, the adjustment time is about 3 seconds. However, the maximum peak range of the conventional PID controller is about 1. 15. The adjustment time is about 3.8 seconds, indicating that compared with the conventional PID controller, the fuzzy PID controller has good dynamic performance, stability, fast response speed, strong tamper-resistance ability and better control effect. The results are conducive to improving the working efficiency of the jumbo manipulator, and providing certain research experience for the research of automatic jumbo.