Nonlinear differential and integral sliding mode control for wave compensation system of ship-borne manipulator

Xu, Zhiqiang; Wang, Zhiyong; Shen, Zhixin; Sun, Yougang

doi:10.1177/0020294020944956

Cited by 14 publications

(7 citation statements)

References 36 publications

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“…As mentioned above, the control methods for hydraulic presses can be mainly divided into the following categories: PID control strategy and its deformation, sliding mode control strategy, back-stepping control strategy, adaptive control strategy, etc. Several methods are combined [16]. It can be seen that there is no precedent for the application of nonlinear output adjustment methods in the hydraulic field among the current nonlinear vibration compensation methods for hydraulic systems in the United States and abroad.…”

Section: Introductionmentioning

confidence: 99%

A Nonlinear Vibration Compensation Method for Engineering Forging Hydraulic Press Using Tabu Search Algorithm

Wang

Chen

2022

Mobile Information Systems

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The research on the nonlinear vibration compensation method in the field of forging hydraulic press is still in the blank stage. This paper studies the nonlinear vibration compensation problem of forging hydraulic press under the action of a kind of nonlinear external system and realizes the increase of a kind of nonlinear vibration in the nonlinear system of a hydraulic press. This paper proposes two methods to solve the nonlinear relationship. One is to concatenate an inverse function of a nonlinear relationship and synthesize it to obtain a linear relationship. While another is to acknowledge its nonlinear relationship and determine its output based on its nonlinear relationship. Furthermore, this paper chooses the tabu search algorithm to solve the compensation problem of nonlinear vibration and improves its search neighborhood to solve the problem of vibration range selection, analyses the vibration reinforcement calculation, and describes the specific steps of applying the tabu search algorithm. Finally, MATLAB is used to simulate and validate the designed method. The simulation results show that the method can suppress nonlinear vibration and the corresponding compensation effectiveness, proving the design method’s rationality.

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Section: Introductionmentioning

confidence: 99%

A Nonlinear Vibration Compensation Method for Engineering Forging Hydraulic Press Using Tabu Search Algorithm

Wang

Chen

2022

Mobile Information Systems

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“…However, there are currently no clear work safety rules that regulate work on a ship based on the degree of motion of ships. Furthermore, recent papers have investigated the ship's roll motion relative to equipment of ship [7], [8], but there is a lack of human walking studies. Therefore, we would like to investigate how the ability to control balance changes depending on the degree of ship movement to help establish working safety rules for ships in bad weather.…”

Section: Introductionmentioning

confidence: 99%

The Effects of Ship’s Roll Motion on the Center of Mass and Margin of Stability During Walking: A Simulation Study

2022

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Walking strategies in an unstable environment like a ship differ from walking on stable ground. Extreme ship motions may endanger the safety of the crews. Notably, a loss of balance on board can lead to an injury or an accident of falling off a ship. Keeping one's balance on board a ship is strongly influenced by the ship's motion. Therefore, the objective of this study is to determine how walking on a ship differs from walking in a stable environment and explore the effects of the ship's roll motion on balance control and stability while walking in sea environments. We hypothesized that step time variability, center of mass (COM), and margin of stability (MOS) would significantly differ between stable and unstable walking conditions. We also hypothesized that there would be an effect of rolling cycles and angles on increasing step time variability, COM excursion, and MOS variability. We recruited 30 healthy individuals between 21 and 39 years old for this study. Participants walked for two minutes at their self-selected speeds during the study with and without rolling on a computer-assisted rehabilitation environment (CAREN) system. The CAREN system was used to simulate the parametric roll motion of ships up to 20 degrees. This study quantified step time variability, peak COM excursion, and MOS variability in different rolling conditions. We found a significant difference in step time variability (p < 0.001), lateral peak COM excursion (p < 0.001), and MOS variability (p < 0.001) between waking on land and walking at sea. INDEX TERMS CAREN, center of mass, lateral balance, margin of stability, ship's roll motion, walking

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“…One of them, ocean winch, a kind of marine equipment, is widely used in underwater towing systems, including subsea equipment installation, ocean pipeline laying, ocean drilling, marine exploration equipment, and other aspects. [1][2][3] According to the different structures, the ocean winch can be divided into a single reel, followed by the storage cable and traction separation structure form. 4 This paper mainly studies the constant tension control of traction winch cable.…”

Section: Introductionmentioning

confidence: 99%

BP fuzzy neural network PID based constant tension control of traction winch

Zhu

Zhang

Zhao

et al. 2022

Measurement and Control

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As part of the ocean winch, the traction winch mainly plays the role of attenuating the load tension. It generally uses simple speed control. For the ship-based collection and release system, complex sea conditions make the cable tension constantly changes. The traditional control method will make the cable in the traction winch too slack or too tight. Meanwhile, it can result in the wrong rope, bite rope and slippage, and other phenomena. Eventually, it is leading to cable damage or breakage and equipment loss. Moreover, with the introduction of expensive photoelectric composite cables, there is a greater need for a good control algorithm to extend the life of the cable and ensure the safety of retrieval and release. Therefore, this paper focuses on the constant tension control of the traction winch cable. In this paper, the NARX neural network-based cable tension compensation value prediction model is established as the feedforward part based on historical ship heave displacement data and cable tension compensation data as training data. On this basis, the simulation model of cable constant tension winch based on common PID control, fuzzy PID control, and BP fuzzy neural network PID control are established. By comparing the tension of the cable with the above controller, the results show that the tension control of the cable based on the NARX neural network predicted tension compensation value plus BP fuzzy neural network PID control has high accuracy, fast dynamic response, smooth system, and no overshoot.

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Nonlinear differential and integral sliding mode control for wave compensation system of ship-borne manipulator

Cited by 14 publications

References 36 publications

A Nonlinear Vibration Compensation Method for Engineering Forging Hydraulic Press Using Tabu Search Algorithm

A Nonlinear Vibration Compensation Method for Engineering Forging Hydraulic Press Using Tabu Search Algorithm

The Effects of Ship’s Roll Motion on the Center of Mass and Margin of Stability During Walking: A Simulation Study

BP fuzzy neural network PID based constant tension control of traction winch

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