Research on Precision Control Strategy of Electro-hydraulic Proportional System for Shotcrete Robotic Arm Based on PID-MPC

Research on Precision Control Strategy of Electro-hydraulic Proportional System for Shotcrete Robotic Arm Based on PID-MPC | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Research on Precision Control Strategy of Electro-hydraulic Proportional System for Shotcrete Robotic Arm Based on PID-MPC Kun Zhang, Heng Zhang, Zhaoyun Zhang, Tian Dan, Shengli Tian, and 4 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6240291/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 14 Oct, 2025 Read the published version in Scientific Reports → Version 1 posted 10 You are reading this latest preprint version Abstract This study addresses the slow dynamic response and significant hysteresis in nonlinear hydraulic systems of shotcreting robots. Using a 6-DOF shotcreting manipulator as the platform, an electro-hydraulic proportional control system was designed, and its mathematical model was established. Operational data were filtered, and system parameters were identified via a least squares-optimized particle swarm algorithm to derive an accurate transfer function. A dual-loop control strategy integrating PID closed-loop control (inner loop) and model predictive control (MPC, outer loop) was proposed for system optimization and simulation. Results indicate that the PID-MPC algorithm reduced the simulation settling time to 0.2 s and stabilization time to 0.5 s, significantly enhancing response speed without overshoot. Experimental validation confirmed significant reductions in speed tracking error and maximum settling time, directly evidencing enhanced control performance This methodology provides theoretical and experimental foundations for automated intelligent shotcreting technology. Physical sciences/Engineering/Civil engineering Physical sciences/Engineering/Electrical and electronic engineering Physical sciences/Engineering/Mechanical engineering Shotcrete Robot Electro-Hydraulic Proportional System Parameter Identification Model Predictive PID Control Model Predictive Control (MPC) Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 14 Oct, 2025 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Revision requested 10 Apr, 2025 Reviews received at journal 08 Apr, 2025 Reviewers agreed at journal 01 Apr, 2025 Reviews received at journal 31 Mar, 2025 Reviewers agreed at journal 30 Mar, 2025 Reviewers invited by journal 30 Mar, 2025 Editor assigned by journal 30 Mar, 2025 Editor invited by journal 19 Mar, 2025 Submission checks completed at journal 18 Mar, 2025 First submitted to journal 16 Mar, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6240291","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":440983874,"identity":"59e69bd6-aec5-4db0-8248-bce171b3c3af","order_by":0,"name":"Kun Zhang","email":"","orcid":"","institution":"Shandong University of Science and Technology","correspondingAuthor":false,"prefix":"","firstName":"Kun","middleName":"","lastName":"Zhang","suffix":""},{"id":440983875,"identity":"a10a6be1-2df3-4c03-8fa2-720fd1d475cf","order_by":1,"name":"Heng Zhang","email":"","orcid":"","institution":"Shandong University of Science and 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