Hydraulic mechanical arm trajectory tracking control method and system

By optimizing the outer-loop PID controller using particle swarm optimization and adjusting the PID parameters using a fuzzy adaptive mechanism, the problem of trajectory tracking accuracy and stability of hydraulic robotic arms under nonlinear and time-varying conditions was solved, achieving high-precision and high-stability trajectory tracking control for hydraulic robotic arms.

CN122185186APending Publication Date: 2026-06-12TAIYUAN INST OF CHINA COAL TECH & ENG GROUP +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
TAIYUAN INST OF CHINA COAL TECH & ENG GROUP
Filing Date
2026-03-20
Publication Date
2026-06-12

AI Technical Summary

Technical Problem

Existing hydraulic robotic arm trajectory tracking control methods struggle to simultaneously achieve both tracking accuracy and disturbance rejection under conditions of strong nonlinearity, time-varying parameters, and load disturbances. This results in significantly increased trajectory errors, insufficient system robustness, and an inability to meet operational accuracy requirements.

Method used

The initial control parameters and error normalization scale of the outer-loop PID controller are optimized by particle swarm optimization algorithm. The PID parameters are adjusted in real time by combining fuzzy adaptive mechanism. The trajectory tracking control of the hydraulic robotic arm is realized by introducing saturation limiting and back-calculation anti-integral saturation strategies through cascade PID control model and inner-loop incremental PID control.

Benefits of technology

It improves the trajectory tracking accuracy of hydraulic robotic arms under nonlinear and time-varying factors, enhances the stability and anti-disturbance capability of the system, reduces the reliance on manual parameter tuning experience, and reduces the cost of repeated parameter tuning. It is suitable for high-precision and high-reliability hydraulic robotic arm trajectory tracking scenarios.

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Abstract

The present application belongs to the technical field of hydraulic mechanical arm control, and particularly relates to a hydraulic mechanical arm trajectory tracking control method and system. The present application aims at the problem that the trajectory tracking precision is reduced due to the influence of strong nonlinearity of the hydraulic system, parameter time-varying and load disturbance of the hydraulic mechanical arm. A kinematic model is established based on the D-H method, and the end desired trajectory is converted into joint desired quantity through inverse kinematics. The outer ring position loop generates a speed command, and the inner ring velocity loop outputs a valve control driving quantity. A limiting and back calculation type anti-integral saturation processing is introduced to adapt to the physical limitation of the actuator. A particle swarm algorithm is used to construct a target function with root mean square error, overshoot and control output smoothness as indexes, to optimize the PID initial value, normalized scale and scale factor. In the running, the parameters are corrected online according to the error and its change rate through fuzzy reasoning, and the centroid method is used to complete the clarification. The scheme has a clear structure, and can effectively improve the trajectory tracking precision and the robustness of the system under complex working conditions.
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