High Precision Adaptive Fuzzy Control Method for Hydraulic Robot Joint

摘要

Aiming at the problems of strong nonlinearity, parameter uncertainty caused by temperature change and low control accuracy of electro-hydraulic servo valve-controlled hydraulic joint, this paper proposes a high precision control method of hydraulic robot joint based on adaptive fuzzy control. By analyzing the hydraulic joint and electro-hydraulic servo control system, the controller based on fuzzy control and the drift compensation module based on adaptive algorithm are designed to improve the accuracy and stability of motion control. The experimental results show that the positioning accuracy and dynamic tracking accuracy of this method are significantly improved compared with the traditional PID algorithm. The experimental results show that the positioning accuracy and dynamic tracking accuracy of the proposed method are significantly improved compared with the traditional PID control. The positioning accuracy is ±0.03°, and the dynamic motion tracking accuracy is ±3.9 °. This method is conducive to the high-precision and stable control of hydraulic robot joint.