Abstract
Maintaining stable tension of mooring winch ropes on-board a ship under waves, tides and draft change is very important for the safety of the ship. Hydraulic mooring winches, used for pulling or hauling ropes, are in general highly nonlinear and time varying systems due to the compressibility and varying viscosity of the fluid, oil leakage and disturbances from the load. This paper presents a design method of a nonlinear PID (NPID) controller, combining the linear PD actions and nonlinear I action, for constant rope tension control of a hydraulic mooring winch. The gain of the I term is continuously changed according to the error during the operation for achieving good control effort under the changing external environment and implemented by Takagi-Sugeno type fuzzy rules. The NPID controller parameters are tuned by a genetic algorithm (GA). Effectiveness of the proposed method is verified through a set of simulation works.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Journal of Institute of Control, Robotics and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
