Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller
Qi Chen, Wei Li, Xiaohui Wang, Yan Li, Shuo Li, Bin Xian
Abstract
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.
BibTeX
@inproceedings{iros2015_maintainingconst,
title = {Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller},
author = {Qi Chen and Wei Li and Xiaohui Wang and Yan Li and Shuo Li and Bin Xian},
booktitle = {IROS 2015},
year = {2015}
}