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Compared with the traditional linear cylinder joint, the vane-type swinging joint has many advantages. In this paper, the vane-type swing joint of the deep-sea hydraulic manipulator is modeled and controlled in combination with the special working environment of the deep-sea hydraulic manipulator, and the PID and fuzzy-PID controller are simulated and analyzed based on the MATLAB/Simulink environment, and an experimental plat-form is built to simulate the tracking of the given signal under different loads and different ocean depths, and the control effects of the two controllers are compared and analyzed.

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Research on the Modeling and Control of Vane-Type Swing Joints of Deep-Sea Hydraulic Manipulators

  • 会议论文

  • 发表日期：

    2025年

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  • Baoqi Zhai,
  • Liangqing Huo,
  • Xiaomeng Liu,
  • Tao Liu,
  • Qifeng Zhang,
  • Yuqi Wang

摘要

Compared with the traditional linear cylinder joint, the vane-type swinging joint has many advantages. In this paper, the vane-type swing joint of the deep-sea hydraulic manipulator is modeled and controlled in combination with the special working environment of the deep-sea hydraulic manipulator, and the PID and fuzzy-PID controller are simulated and analyzed based on the MATLAB/Simulink environment, and an experimental plat-form is built to simulate the tracking of the given signal under different loads and different ocean depths, and the control effects of the two controllers are compared and analyzed.