公路边坡护坡骨架施工车是聚焦于公路边坡土壤开槽和水泥混凝土滑模的工程机械装备。针对公路边坡护坡骨架施工车旋转臂在边坡环境的运动控制问题，设计一种基于模糊多参数自适应比例积分微分（proportional integral derivative, PID）的位置反馈控制策略。考虑到非对称液压缸两腔的差异，采用面积差异等效建模法建立阀控非对称液压缸的线性数学模型。通过定义模糊子集、选取隶属函数、建立模糊规则，使用模糊多参数自适应PID控制算法，实现旋转臂非对称液压缸位置控制。仿真和试验结果表明，基于面积差异等效数学模型的模糊多参数自适应PID能够有效地提高液压缸位置跟踪控制精度，验证了所提控制算法的有效性。

Slope protection frame construction vehicle is construction machinery equipment for soil slotting and cement concrete sliding form of highway slope. Aiming at the problem of motion control of rotating arm of slope protection frame construction vehicle in the slope environment, a position feedback control strategy based on fuzzy multi-parameter adaptive PID(proportional integral derivative) was designed. In consideration of the difference between the two chambers of the asymmetric hydraulic cylinder, the linear mathematical model of valve controlled asymmetrical hydraulic cylinder was established using area difference equivalent modeling method. By defining fuzzy subset, selecting membership function and establishing fuzzy rules, position control of asymmetrical hydraulic cylinder of rotating arm was realized using fuzzy multi-parameter adaptive PID control algorithm. Simulation and experiments show that fuzzy multiparameter adaptive PID based on the area difference equivalent mathematical model can effectively enhance position tracking control accuracy of hydraulic cylinder, and the effectiveness of the proposed control algorithm was verified.