Research on fuzzy PID control of forearm of tunnel steel arch mounting machine

Abstract

Taking the smooth transition of angular velocity as the key point, the forearm vibration reduction control system based on fuzzy PID control is studied to reduce the influence of the forearm vibration on the docking operation of steel arch. According to the fuzzy rules, the control system establishes the correspondence between the real-time rotation angle error of the forearm and the control signal to reduce the self-vibration caused by the sudden change of the speed at the end of the rotation. By establishing the AMESim-Simulink joint simulation model of the forearm rotation system, the application effect of the fuzzy PID control system on the forearm vibration reduction control is studied. The simulation and experimental results show that this control system effectively reduces the sudden change of the speed and the influence of the self-vibration of the forearm, and each small-angle posture adjustment time can be controlled within 3s.