High performance control of hydraulic excavator based on Fuzzy-PI soft-switch controller

Aiming at the hot topic of automatic control of hydraulic excavator, the electro-hydraulic control system of excavator mechanism is developed. According to the nonlinearity and uncertainty of the excavator mechanism control system, a fuzzy plus PI controller which combines the advantages of fuzzy logic and conventional PI control is developed, a fuzzy rule based soft-switch method is adopted to achieve smooth switching. This combined controller which we call it Fuzzy-PI soft-switch controller is demonstrated to have better response property than conventional PID and fuzzy controller respectively.