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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)
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
会议录名称2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
出版者IEEE
出版地Piscataway, NJ, USA
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17505
专题水下机器人研究室
通讯作者Li W(李伟)
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
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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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