Original scientific paper

https://doi.org/10.7305/automatika.2017.02.1490

Mathematical Modeling and Fuzzy Control of a Leveling and Erecting Mechanism

Feng Jiangtao ; Precision Instrument Department, Xi’an High-tech Research Institute, Xi’an, CN-710025, Shaanxi, China
Gao Qinhe ; Precision Instrument Department, Xi’an High-tech Research Institute, Xi’an, CN-710025, Shaanxi, China
Huang Xianxiang ; Precision Instrument Department, Xi’an High-tech Research Institute, Xi’an, CN-710025, Shaanxi, China
Guan Wenliang ; Precision Instrument Department, Xi’an High-tech Research Institute, Xi’an, CN-710025, Shaanxi, China

Abstract

The moving process of a leveling and erecting mechanism is complicated, which involves six hydraulic cylinders. The research established mathematical model and optimized the moving process of the leveling and erecting mechanism. Kinematic analysis of the mechanism was accomplished. Mathematical model of the hydraulic system was established. Working scheme was designed consisting of workflow, trajectory planning, leveling strategy and control method. The mechanical, hydraulic and control models were respectively established in Pro/E, ADAMS, AMESim and Simulink software. Co-simulation was carried out to validate the designed scheme. Experiment was completed on a platform. The results of simulation and experiment indicate that the designed scheme is feasible. Fuzzy adaptive PID controller has an excellent effect in controlling the leveling and erecting mechanism.

Keywords

Co-simulation; Erecting; Fuzzy adaptive PID control; Leveling; Trajectory planning

Hrčak ID:

180697

URI

https://hrcak.srce.hr/180697

Publication date:

23.3.2017.

Article data in other languages: croatian

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