Authors: Mingfeng Wang; Shaojun Liu
Addresses: LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Via Di Biasio 43, 03043 Cassino (Fr), Italy ' College of Mechanical and Electrical Engineering, Central South University, Lushan South Road 932, Changsha, Hunan, 410083, China
Abstract: This paper addresses the control problem of the 6-DOF motion simulator which is designed for a deep-sea mining ship. In this research, we first analyse the inverse kinematics and the hydraulic driving system of the 6-DOF motion simulator. Based on the conventional PID control, we develop a fuzzy-PID controller for the simulator. Experimental results have shown that the designed fuzzy-PID controller can drive the deep-sea mining ship 6-DOF motion simulator accurately, smoothly, and stably.
Keywords: deep-sea mining ships; Stewart platform; inverse kinematics; hydraulic servo systems; fuzzy PID control; fuzzy control; fuzzy logic; ship motion; motion simulation; controller design.
International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.2/3, pp.202 - 220
Received: 11 Dec 2012
Accepted: 11 Jun 2013
Published online: 12 Jul 2014 *