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Considering the nonlinearity, parameters perturbation and random waves disturbance to the ship fin stabilizer system during ship sailing on the rough sea, a robust controller based on sliding mode control which incorporates fuzzy tuning technique is proposed in this paper. The sliding mode control is used to force the ship roll to zero. The fuzzy tuning is adopted to eliminate the chattering of control...
Nonlinear coupling disturbance is an important factor to the precision of three-axis swing turntable. The paper studied platform model and anti-disturbance compensation control algorithm based on robust control idea. A three-axis turntable mathematical model is proposed using theory of DC motor and coupling torque equation. The robust controller is designed according to the adaptive robust compensation...
We put forward a system structure of controlling the tightening operation of bolts using multiraxial tightening machine. A kind of fieldbus intelligent tightening control system is designed with the technology developing of fieldbus intelligent instrumentation. This system is a distributed structure based on fieldbus control system which consists of CAN bus, Profibus-DP bus, and adopts many advanced...
By using the quasi steady state and mixed modeling methods, the nonlinear mathematical model of the ship main propulsion system is established. An improved integrated control algorithm based on CMAC and PID is presented in the ship propulsion system. Simulation computing is completed to investigate the dynamic characteristics of the ship propulsion system on rough sea conditions. The results show...
This paper proposes a dynamic model of permanent-magnet spherical motor (PMSM) and puts forward a dynamic decoupling control algorithm of the motor, using fuzzy controllers (FCs) and a neural network identifier (NNI). PMSM is a multivariable nonlinear system with strong interaxis couplings. A computed torque method structure is applied to PMSM. There are such uncertainties as estimated errors of the...
Based on the modeling method of the co-operation between the characteristic maps and the mathematical equations, a propulsion system simulation model which includes model for large low speed two-stroke diesel engine (MAN B&W 10L90MC) and model for shaft, propeller and ship hull dynamics is proposed. To calculate propeller's characteristic, the regression functions are adopted. The simulation experiments...
A Halbach array permanent magnet spherical motor (HPMSM) can provide 3 degrees-of-freedom motion in a single joint, simplify the mechanical structure greatly, improve the positioning precision and response speed. However, a HPMSM is a multivariable, nonlinear and strong coupling system with serious inter-axis nonlinear coupling. The dynamic model of a HPMSM is described in this paper, and a control...
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