Heave Compensation System Based on Hybrid Fuzzy P+ID Control
CHEN Qi1,2, LI Wei1, WANG Xiaohui1, ZHANG Qifeng1, ZHANG Wei1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract：A hybrid fuzzy P+ID controller is proposed and applied to the heave compensation system using an electro-hydraulic winch system. The heave compensation system can decouple the operation of underwater vehicle from the motion of vessel. Firstly, the heave motion of vessel is calculated based on measurements from an inertial measurement unit (IMU) using a digital high-pass filter. Then, a mathematical model of the electro-hydraulic winch system is developed, and the heave compensation controller based on hybrid fuzzy P+ID controller is designed to control the winch rotation according to the vessel motion. Finally, simulation studies and real device experiments are conducted to demonstrate that the heave compensation systems based on the fuzzy P+ID controller is much more robust than the conventional PID controller.
[1] Woodacre J K, Bauer R J, Irani R A. A review of vertical motion heave compensation systems[J]. Ocean Engineering, 2015, 104: 140-154.
[2] 郭威,崔胜国,赵洋,等.一种遥控潜水器控制系统的研究与应用[J].机器人,2008,30(5):398-403.Guo W, Cui S G, Zhao Y, et al. Research and application of a control system for remotely operated vehicle[J]. Robot, 2008, 30(5): 398-403.
[3] Do K D, Pan J. Nonlinear control of an active heave compensation system[J]. Ocean Engineering, 2008, 35(5-6): 558-571.
[4] 熊中刚,叶振环,贺娟,等.基于免疫模糊 PID 的小型农业机械路径智能跟踪控制[J].机器人,2015,37(2):212-223.Xiong Z G, Ye Z H, He J, et al. Small agricultural machinery path intelligent tracking control based on fuzzy immune PID[J]. Robot, 2015, 37(2): 212-223.
[5] 姜杉,冯文浩,杨志永,等.基于模糊 PID 调节的核磁兼容机器人气动控制技术[J].机器人,2012,34(5):531-538.Jiang S, Feng W H, Yang Z Y, et al. Pneumatic control technology based on fuzzy PID for MRI compatible robots[J]. Robot, 2012, 34(5): 531-538.
[6] Cetin S, Akkaya A V. Simulation and hybrid fuzzy-PID control for positioning of a hydraulic system[J]. Nonlinear Dynamics, 2010, 61(3): 465-476.
[7] Li W. Design of a hybrid fuzzy logic proportional plus conventional integral-derivative controller[J]. IEEE Transactions on Fuzzy Systems, 1998, 6(4): 449-463.
[8] Li W, Chang X G. Application of hybrid fuzzy logic proportional plus conventional, integral-derivative controller to combustion control of stoker-fired boilers[J]. Fuzzy Sets and Systems, 2000, 111(2): 267-284.
[9] Li W, Chang X G, Wahl F M, et al. Tracking control of a manipulator under uncertainty by fuzzy P+ID controller[J]. Fuzzy Sets and Systems, 2001, 122(1): 125-137.
[10] Chen Q, Li W, Wang X H, et al. Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid fuzzy P+ID controller[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2015: 1652-1657.
[11] Kuechler S, Eberharter J K, Langer K, et al. Heave motion estimation of a vessel using acceleration measurements[C]//18th IFAC World Congress. Amsterdam, Netherlands: Elsevier, 2011: 14742-14747.
[12] Richter M, Schneider K, Walser D, et al. Real-time heave motion estimation using adaptive filtering techniques[C]//19th IFAC World Congress. Amsterdam, Netherlands: Elsevier, 2014: 10119-10125.
