Research on Track Tracking of Mobile Hydraulic Manipulator Based on Improved PID Control
GUO Yongfeng
Abstract：In order to improve the end positioning accuracy of mobile hydraulic manipulator,an improved PID controller is ad?opted,and the effect of the improved PID control is verified by simulation. The sketch model of the mobile hydraulic manipulator is established,and the coordinate equation of the end of the manipulator is derived in the Cartesian coordinate system. The structure sketch of the hydraulic cylinder is given,and the pressure and flow equation of the hydraulic cylinder are analyzed. The traditional PID controller is used to optimize and adjust the PID control parameters online by genetic algorithm. The output errors of the two con?trol systems are simulated and verified by using Matlab software. The results show that the traditional PID control system can not quickly adjust the parameters of the PID control system because of its large fluctuation range of output error and slow response speed. The improved PID control system can quickly adjust the parameters of the PID control system because of its small fluctuation range of output error and fast response speed. The mobile hydraulic manipulator adopts improved PID control,which can quickly re?strain the interference of external factors and improve the positioning accuracy of the end of the manipulator.
Keywords：hydraulic manipulatorgenetic algorithmPID controloptimizationerror
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 79-82 )