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Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller
Chen Q(陈琦); Li W(李伟); Wang XH(王晓辉); Li Y(李岩); Li S(李硕); Xian B(鲜斌)
Department水下机器人研究室
Conference Name2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference DateSeptember 28 - October 2, 2015
Conference PlaceHamburg, Germany
Source Publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1652-1657
Indexed ByEI ; CPCI(ISTP)
EI Accession number20160801971203
WOS IDWOS:000371885401120
Contribution Rank1
ISBN978-1-4799-9994-1
AbstractIn this paper, we propose a hybrid FUZZY P + ID controller to stabilize the towing cable tension between a cable ship and a burying system. First, we develop the model of a winch system driven by valve-controlled hydraulic motors and evaluate the step responses yielded by the conventional PID and the proposed FUZZY P+ID controllers using simulations. The comparative studies show that the control performance yielded by the FUZZY P+ID controller is superior. We replace the existing PID controller implemented on the towing winch with the FUZZY P + ID controller for burying cable tasks at speed up to 1 knot under sea waves with significant variations (peak-to-peak) from 1.5 to 2.5 meters. The real applications demonstrate that the FUZZY P + ID controller is much more robust than the conventional PID controller.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17505
Collection水下机器人研究室
Corresponding AuthorLi W(李伟)
Affiliation1.Robotics State Key Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, CA, United States
4.School of Electrical Engineering and Automation, Tianjin University, Tianjin, China
Recommended Citation
GB/T 7714
Chen Q,Li W,Wang XH,et al. Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller[C]. Piscataway, NJ, USA:IEEE,2015:1652-1657.
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