Intelligent PI Fuzzy Control of an Electro- Hydraulic Manipulator
نویسنده
چکیده
The development of a fuzzy-logic controller for a class of industrial hydraulic manipulator is described. The main element of the controller is a PI-type fuzzy control technique which utilizes a simple set of membership functions and rules to meet the basic control requirements of such robots. Using the triangle shaped membership function, the position of the servocylinder was successfully controlled. When the system parameter is altered, the control algorithm is shown to be robust and more faster compared to the traditional PID controller. The robustness and tracking ability of the controller were demonstrated through simulations.
منابع مشابه
Fault Detection Based on Type 2 Fuzzy system for Single-Rod Electrohydraulic Actuator
Electro-hydraulic systems with regards to the their specific features and applications among other industrial systems including mechanical, electrical and pneumatic systems, have been widely taken into consideration by the scientists and researchers. Due to the fact that the electro-hydraulic system is inherently a nonlinear system, has some problems such as signals saturation, nonlinear effici...
متن کاملOptimal intelligent control for glucose regulation
This paper introduces a novel control methodology based on fuzzy controller for a glucose-insulin regulatory system of type I diabetes patient. First, in order to incorporate knowledge about patient treatment, a fuzzy logic controller is employed for regulating the gains of the basis Proportional-Integral (PI) as a self-tuning controller. Then, to overcome the key drawback of fuzzy logic contro...
متن کاملRealization of Intelligent Grasping on a Traditional Hydraulic Manipula- tor
In the literature, studies on dexterous manipulators are mainly focused on multi-finger multi-joint structures. These manipulators often have difficulties with grasping heavy objects due to the delicateness and complexity of the structures. This paper describes the authors’ attempt on implementing dexterous grasping on a traditional two-single-jointfinger hydraulic manipulator. Hydraulic driven...
متن کاملVelocity Control of Electro Hydraulic Servo System by using a Feedback Error Learning Method
In this paper, a new control method based on FEL electro hydraulic servo control withnonlinear flux and internal friction, has been presented. The new approach based oncontrollers combined by a classic PD controller and a fuzzy controller is smart. This newtechnique has a good ability to control the performance and stability. Simulations have beencarried out in Matlab environment and the result...
متن کاملResearch of the Electro-hydraulic Servo System Based on RBF Fuzzy Neural Network Controller
This article describes the composition and working principle of electro-hydraulic position servo control system, and establishes a systematic mathematical model. This article presents a controller which is based on Fuzzy neural networks for an electro-hydraulic speed governor. The design process of the RBF Fuzzy neural network control is introduced in detail. This controller which combines the ...
متن کامل