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题名: Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller
作者: 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)
作者部门: 水下机器人研究室
会议名称: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议日期: September 28 - October 2, 2015
会议地点: Hamburg, Germany
会议录: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1652-1657
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-9994-1
摘要: In 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.
语种: 英语
产权排序: 1
WOS记录号: WOS:000371885401120
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17505
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
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]. 见:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015.
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