关键词：控制器；液压系统；建模；降级机器人；运动控制
摘 要：Based on the electro-hydraulic proportional system of a demolition robot working device,a simplified mathematical model was established by analyzing dynamic characteristics of the electro-hydraulic proportional valve,flow equation,the continuity equation and force equilibrium equations,and the fuzzy self-adaptive PID controller was designed to realize position control of working equipment.The simulations reveal that,compared with traditional PID,the fuzzy self-adaptive PID controller has these advantages such as smaller overshoot,good dynamic response and steady state performance.