Stable control of hydraulic robotic arm during operation using PLC technology

Abstract

The hydraulic robotic arm has been widely utilized in various fields, and the research on its stability control methods holds significant practical value. This paper firstly introduces programmable logic controller (PLC) technology. Then, this technology was used to design the control system for a hydraulic robotic arm. A specific control system was established using Siemens S7-200 series ST30 PLC, and the proportional, integral, derivative (PID) algorithm was optimized into the improved particle swarm optimization-fuzzy PID (IPSO-FPID) algorithm to achieve stable control of the robotic arm. Simulation experiments conducted demonstrated that on joint 1, the IPSO-FPID algorithm exhibited a response time of 0.36 s, an overshoot of 0.03, and a stabilization time of 3.51 s. On joint 2, the response time was 0.33 s, with an overshoot of 0.02 and a stabilization time of 0.67 s. These results surpassed those obtained with PID and FPID algorithms. This algorithm showed goods fit with the preset values for speed tracking and position tracking. The findings validate the effectiveness of employing PLC technology for stably controlling robotic arms, making it a promising solution for real-world industrial applications.