Research and application of intelligent control method of small type loader actuator

This paper studies the control system of self-excavated excavator, which is based on the working device of the small type loader.Firstly, the kinematics model of the working device is established by D-H method, so that the trajectory planning of the vehicle speed, boom oil cylinder and bucket oil cylinder drive equation is obtained.Combined with the advantages of PID control and fuzzy control, the fuzzy adaptive PID controller of the actuator is designed.Finally, the simulation model of the hydraulic system position controller is built in Simulink.The simulation results show that the displacement error of the actuator is within 0.5mm. 1.