Position Accuracy Control of Hydraulic Manipulator Based on Fuzzy PID

Aiming at the problem that the control parameter tuning adaptability of the hydraulic manipulators is poor in complex working environments and cannot meet rotational position accuracy, a fuzzy PID control strategy was designed for the rotational position accuracy control of the hydraulic manipulators of the subsea drilling rig. First, a mathematical model of the valve-controlled hydraulic motor system was established based on preset functions, then the transfer functions of each link was derived and the stability of the open-loop system was verified. Subsequently, membership functions and fuzzy control rules were designed, and traditional PID and fuzzy PID control models were built using MATLAB/Simulink for simulation comparison experiments. To verify the effectiveness of this method, the designed control strategy was applied to the rotational position control of the manipulators of the subsea drilling rig. The parameters were fine-tuned through multiple experiments. The control performance of forward and reverse under different working conditions was tested by no-load and full-load as examples. The results indicate that this method can improve system dynamic response speed and position control accuracy, and has good adaptive ability.