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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
通讯作者: Li W(李伟)
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)
EI收录号: 20160801971203
WOS记录号: WOS:000371885401120
产权排序: 1
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
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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作者单位: 1.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:
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]. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015.Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller.
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