Title: Fuzzy-PID control of the 6-DOF deep-sea mining ship motion simulator

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.

DOI: 10.1504/IJMRS.2013.057189

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: 16 Oct 2013 *

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