Simulation of Hydraulic Control Model of Underwater Manipulator Based on Improved Genetic Algorithm

Underwater manipulator is mainly driven by electric and oil hydraulic pressure, and it is widely used in underwater operation. The control parameters of conventional PID controller are fixed, and the control effect on nonlinear and time-varying systems is poor, so the dynamic response and steady-state accuracy of the system cannot be taken into account. In order to make full use of the dynamic performance of the manipulator, the fuzzy PID controller structure is introduced into the hydraulic control system of the underwater manipulator, and the fuzzy PID control parameters are adjusted by using the improved GA (genetic algorithm). Multi-point parallel operation mechanism is used to find the global optimal solution, and the convergence speed is fast. The mutation operator used for local search is optimized. The simulation results show that the improved GA tuning fuzzy PID control parameters has obvious advantages and faster search speed. The response speed of PID controller based on improved GA is 65.85% higher than that of conventional PID controller. The experimental results verify the feasibility of the hydraulic control model of underwater manipulator based on improved GA, and this method has certain reference significance for complex trajectory planning.