Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	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)
	2015
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
页码	1652-1657
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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
语种	英语
ISBN号	978-1-4799-9994-1
WOS记录号	WOS:000371885401120
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17505]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 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]. 见:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015.