TELKOMNIKA, Vol.15, No.1, March 2017, pp. 254~263 ISSN: 1693-6930, accredited A by DIKTI, Decree No: 58DIKTIKep2013
DOI: 10.12928TELKOMNIKA.v15i1.3568
254
Received September 5, 2016; Revised December 29, 2016; Accepted January 16, 2017
Mathematical Modeling and Fuzzy Adaptive PID Control of Erection Mechanism
Feng Jiangtao, Gao Qinhe, Guan Wenliang
Xi’an High-tech Research Institute, Tongxin Road No. 2, Hongqing Town, Baqiao District, Xi’an, Shaanxi, China
Corresponding author, e-mail: fengjt291082217126.com
Abstract
This paper describes an application of fuzzy adaptive PID controller to erection mechanism. Mathematical model of erection mechanism is derived. Erection mechanism is driven by electro-hydraulic
actuator system which is difficult to control due to its nonlinearity and complexity. Therefore fuzzy adaptive PID controller is applied to control the system. Simulation was performed in Simulink software and
experiment was accomplished on laboratory equipment. Simulation and experiment results of erection angle controlled by fuzzy logic, PID and fuzzy adaptive PID controllers were respectively obtained. The
results show that fuzzy adaptive PID controller can effectively achieve the best performance for erection mechanism in comparison with fuzzy logic and PID controllers.
Keywords: erection mechanism, electro-hydraulic system, fuzzy logic control, PID control Copyright © 2017 Universitas Ahmad Dahlan. All rights reserved.
1. Introduction
Erection mechanism of large machineries and armaments is a complex mechanical, electronic and hydraulic integration system. It can be mainly divided into electro-hydraulic part
and mechanical part. Electro-hydraulic actuator has become one of the most important actuators in the past decade. The main reasons why hydraulics is preferred to mechanical
drives in industrial applications include their ability to produce large forces at high speeds, high power density and good dynamic performance [1]. Its application can be found in many
engineering fields such as automotive industries, machine tools, aircrafts and manufacturing equipment [2-4].
The dynamic behaviour of hydraulic system is highly non-linear due to friction, fluid compressibility and associated stiffness, which cause difficulties in control of such systems [5].
Position tracking performance can be assured when its robustness and tracking accuracy are guaranteed. There are a number of problems such as nonlinearities, uncertainties and time
varying parameters which can reduce the robustness and tracking accuracy. Therefore, the development of a suitable controller which could reflect robustness and tracking accuracy is
very significant [6]. The problem of position tracking control has been addressed in many papers and numerous publications have proposed fuzzy logic control [7], model based control [8] and
adaptive control [9-10] to improve the position tracking performance and have proven to be successful in their specific area. Jelali and Kroll summarized recent developments in nonlinear
identification, control and application to hydraulic servo systems and arrived at the conclusion that advanced control methods were necessary for high-performance motion control [11].
Advanced control methods can compensate for the nonlinearities of electro-hydraulic systems. Conventional proportional-integral-derivative PID controller is commonly used in industry due
to its simplicity. PID control algorithm has good stability and reliability. It has satisfactory control effect for linear system. However, the parameters of PID control cannot change online, so it is
sensitive to variations of parameters. Fuzzy logic control has achieved desired goals in control of electro-hydraulic system. It is able of adaptation to parameter changes and to deal with
nonlinear dynamic behaviour.
Fuzzy control algorithm transforms experts and operators’ experience into co
ntrol rules and don’t need precise system information. It has the advantages of adapting to uncertainty and complexity. It is usually associated with traditional control method
and has practical value and great development potential. Fuzzy PID controller which combines
TELKOMNIKA ISSN: 1693-6930
Mathematical Modeling and Fuzzy Adaptive PID Control of Erection … Feng Jiangtao
255 the traditional PID control and fuzzy control has been applied to solve many engineering
problems [12]. This paper is organized as follows. Mathematical model of the electro-hydraulic system
is derived. Kinetic analysis of erection mechanism is accomplished. The relationships of erection force, erection angle and the length of hydraulic cylinder are obtained. Fuzzy adaptive
PID controller is designed in combination of fuzzy logic and PID control method. Models of erection system and fuzzy adaptive controller are established in Simulink. Experimental studies
are completed on laboratory equipment. The aim of this research is to investigate the effect of fuzzy adaptive PID controller on erection mechanism.
2. Mathematical Modeling of Erection System 2.1. Model of the Electro-Hydraulic System
