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CSME 2020/04
Volume 41 No.2
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169-179
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Subdivision Control Algorithm Based on Fuzzy-PID Decoupling for Ship Dynamic Positioning
Hong-sheng Lia, Meng Wanga, Qing Miaoa and Thierno-Mamadou-Pathe Diallo b
aSchool Of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China.
bFaculty of Science, Centre Universitaire de Kindia, Kindia.
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Abstract:
Dynamic positioning is to keep ship at a set position in the sea by its own power, which is a complex process because of complexity of ship motion and uncertainness of marine environment. In this paper, subdivision control algorithm based on fuzzy-PID is developed, and is used for keeping ship’s position under the effect of external load. On the inner loop, decoupling control method based on motion model of three degree of freedom (3-DOF) is adopted to remove the coupling between controlled variables. Fuzzy-PID dual mode controller is designed to control the velocity and angular velocity. Fuzzy switching logic (FSL) is adopted to decrease the switching disturbance of Fuzzy-PID dual mode controller. On the outer loop, subdivision control strategy is used to control the position and heading. This method constitutes the cascade control system and is used to realize the accurate positioning. The simulations and experiments are conducted by using this control method to verify its high positioning accuracy, strong adaptability to environment and certain robustness.
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Keywords: Dynamic Positioning, Subdivision Control, Decoupling Control, Fuzzy-PID
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*Corresponding author; e-mail:
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©
2020
CSME , ISSN 0257-9731
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