At present, there is a problem that the output accuracy of the transplanting manipulator is low due to interference from external factors. To solve the problem of low output accuracy of the transplanting manipulator caused by the interference of external factors to the displacement tracking of the hydraulic seedling picking-up system, a control method of the transplanting manipulator based on the fuzzy PID control strategy is proposed. First of all, the hydraulic seedling taking system was modeled and analyzed, and the total output displacement of hydraulic cylinder piston when the valve core input displacement and external load force were acted on simultaneously was given. Then the PID control method of the hydraulic seedling picking-up system was designed, and by combining the fuzzy control theory with PID control theory, a fuzzy PID controller was designed, which was capable of on-line adjusting the PID parameters. MATLAB/Simulink was used to simulate the control system, and the control effects of conventional PID control and fuzzy PID control on the hydraulic seedling picking-up system were compared. The results showed that when $k_p$ value took 4, $k_i$ value took 10 and $k_d$ value took 0.001, the output response curve of the traditional PID control reaches a stable state in 5 s, while the fuzzy PID control only takes 2.2 s under the same conditions, successfully increasing the step response signal time of the system by 56%. The results showed that fuzzy PID control introduced helped the hydraulic seedling picking-up system to overcome its disadvantages of non-linearity and low control accuracy, and improved the stability and dynamic performance of the system.

当前，存在由于来自外部因素的干扰而导致的移植机械手的输出精度低的问题。针对外来因素对水力苗木捡拾系统位移跟踪的干扰，导致机械手输出精度低的问题，提出了一种基于模糊PID控制策略的机械手控制方法。首先，对液压采苗系统进行了建模与分析，给出了同时作用于阀芯输入位移和外力作用时液压缸活塞的总输出位移。然后设计了水力苗木捡拾系统的PID控制方法，并将模糊控制理论与PID控制理论相结合，设计了一种模糊PID控制器，可以在线调节PID参数。利用MATLAB / Simulink对控制系统进行了仿真，比较了传统PID控制和模糊PID控制对液压苗木捡拾系统的控制效果。结果表明${ķ}_p$ 值花了4， ${ķ}_{\mathrm{一世}}$ 价值花了10 ${ķ}_d$取值为0.001，传统PID控制的输出响应曲线在5 s内达到稳定状态，而模糊PID PID在相同条件下仅需2.2 s，成功地将系统的阶跃响应信号时间增加了56％。结果表明，引入的模糊PID控制有助于液压苗木捡拾系统克服非线性，控制精度低的缺点，提高了系统的稳定性和动态性能。