Design of Position Balance Controller for the Sprayer Boom

摘要

In order to make the sprayer boom follow the ground undulation during the processing of work, we designed a controller based on electro-hydraulic servo system to keep the boom balance. As for the time variant of the parameters and highly nonlinear in the electro-hydraulic servo system, the fuzzy-PID control method has been designed. The position output can be controlled on a predicted track to fulfilled the standard of fast and accuracy via fuzzy-PID method. The establishment of the fuzzy-PID control system?realized the control of the nonlinear uncertain parameters in the electro-hydraulic servo system. After the simulation and verification, we compared with the traditional fuzzy logic method. The results indicated that the controller designed in the paper has a great ability to track and also has a favourable control results to the uncertain and external disturb of the system.