Modeling and simulation of synchronous control of rod feeding mechanism based on fuzzy PID

ZHOU Wei1, LI Qun-ming1,2,3, GAO Zhi-wei1, XIE Shuai1
（1.College of Mechanical and Electrical Engineering, Central South University, Changsha 410083,China;
2.Light Alloy Research Institute,Central South University, Changsha 410083, China; 3.Key Laboratory of
High Performance Complex Manufacturing,Central South University, Changsha 410083, China）

Abstract: Aiming at the synchronization control of the rod feeding mechanism for the core sampling drilling rig designed by the research team, the reason why the factors such as the oil inlet flow rateof the delivery cylinders, the leakage of the cylinders, and the coupling of load forces cause the centerline of the slot of the delivery bracket and the centerline of the rods in the storage box have an off-angle, the rod cannot accurately fall into the slot, the rod feeding mechanism does not work properly was studied. A mathematical model and a closedloop synchronous control system model of the rod feeding process of the rod feeding mechanism were established by equivalent control, and a fuzzy PID controller was designed. Simulink module of MATLAB was used for simulation analysis, and the effect of traditional PID control was compared. The results indicate that the fuzzy PID control system works stably, responds fast, and has high synchronization accuracy. The cylinder can track the control speed and displacement signals well. The maximum synchronization error is only 0.09 mm at low speeds, and only 0.13 mm at high speeds. The mechanism is able to precisely feed the rod.
Key words: rod feeding mechanism; two-cylinder synchronous control; electro-hydraulic proportional control; fuzzy PID control