| As a typical electro-hydraulic servo system, a weapon depth control system has nonlinearity, time-varying and dead zone characteristics in the control process, which causes it’s hard to achieve precise control. Grey system theory is a study of system with less known information and many uncertain issues. Grey prediction can realize accurately predicted with less known data. Equal dimension and new information concept ensures grey prediction can always accurately predict the development trend of the system. Placing the grey predictor in the closed loop of the electro-hydraulic servo system can weaken the nonlinear and time-varying characteristics. Meanwhile self-adjustment prediction step in different stages of control helps the controller further overcome nonlinear factors. Choosing fuzzy PID as the main controller, switching grey prediction fuzzy PID controller was proposed to achieve precise control of a weapon depth system.In order to test the control effect of this controller, the depth control system modeling is necessary. But the traditional mathematical model can not reflect the nonlinear characteristics of the system. We select AMESim to model electro-hydraulic system, and Simulink to design the controller. Use the combination simulation method to achieve the Simulink controller to control the hydraulic system in AMEsim.In the end, in order to test the control effect of real hydraulic system, we built a semi physical simulation platform. Through the real time simulation, DAQ toolbox and the data acquisition card, we use the controller in Simulink to control the proportional valve controlled hydraulic cylinder system in the hydraulic experimental table.Through the result of combination simulation and semi physical simulation, compared to Fixed grey prediction fuzzy PID controller and fuzzy PID controller, switching grey prediction fuzzy PID controller has more outstanding control effect and higher control accuracy.
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