Research on a novel PID based controller for nonmagnetic hydraulic navigation simulator with AMESim simulation

In this paper we research on the run time characteristics of non-magnetic hydraulic navigation simulator and approach a corresponding control strategy. Since the simulator is designed to be non-magnetic, it consists of long hydraulic pipes separating electric part and mechanical part to avoid the magnetic interference from electric part. Meanwhile the mechanical part is made of non-magnetic materials. Hydraulic motor, instead of electric motor, is used to drive the simulator and it stands varied load at run time. Because of the non-magnetic design, normal control strategy doesn't satisfy the system. We analyze the characteristics of the simulator system both in frequency-domain and time-domain with the help of transfer function and AMESim, which is a modeling environment for simulation of engineering, to make the characteristics clear and finally propose a PID based control strategy (denoted as D
ff
- PIDD
²
in this paper) combining feedforward differential controller (D
ff
) and 2
^nd
order differential controller (D
²
) for the system. At last we verify the control strategy with position tracking simulation and obtain a satisfied result.