Research on Hydraulic Robot for Pipe Handling Based on Adaptive Fuzzy-PID Control

Abstract

In order to improve the control performance of the pipe handling robot and the tracking effect of manipulator trajectory, the adaptive fuzzy-PID algorithm was applied to the joint control of robot arm. According to the nonlinear and time-varying parameters of valve-controlled asymmetric hydraulic cylinders extending and retracting movement, considering the influence of hydraulic pipeline and oil compressibility, a mathematical model of valve-control asymmetric hydraulic cylinder system was established. The dynamic response of the system model was studied based on the co-simulation of AMESim and Simulink. The results showed that compared with regular PID, the adaptive fuzzy PID controller could effectively suppress the nonlinear effect caused by oil compressibility, and reduce the response time of the system. At the same time, it could enhance the anti-interference ability of the system, and improve the dynamic tracking performance of the pipe handling robot.