A control strategy for shipboard stabilization platforms based on a fuzzy adaptive proportional–integral–derivative (PID) control architecture
<p>To address the precision degradation of marine equipment under coupled hydrodynamic disturbances, this study develops a 6-degree-of-freedom (6-DOF) stabilization platform with a fuzzy adaptive proportional–integral–derivative (PID) control architecture. The kinematic model is established vi...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2025-07-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/16/325/2025/ms-16-325-2025.pdf |
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| Summary: | <p>To address the precision degradation of marine equipment under coupled hydrodynamic disturbances, this study develops a 6-degree-of-freedom (6-DOF) stabilization platform with a fuzzy adaptive proportional–integral–derivative (PID) control architecture. The kinematic model is established via analysis based on the virtual-work principle, complemented by Monte Carlo simulations for workspace characterization. A fuzzy inference engine dynamically adjusts PID parameters through rule-based adaptation, demonstrating superior disturbance rejection. Comparative simulations indicate a 50 % reduction in settling time (7.0 <span class="inline-formula">s</span> to 3.5 <span class="inline-formula">s</span>), zero overshoot, and <span class="inline-formula"><</span> 0.03° steady-state tracking error under 2 <span class="inline-formula">Hz</span> sinusoidal excitation. A human–machine interface (HMI) for the shipboard stabilization platform is developed using the Qt Creator framework, integrating real-time trajectory tracking and parameter tuning. The research advances marine stabilization technology through mechanical optimization via virtual-work modeling and control enhancement via fuzzy–PID synthesis. Experimental validation confirms the framework's capability to maintain sub <span class="inline-formula">−</span>0.03° precision under dynamic maritime conditions.</p> |
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| ISSN: | 2191-9151 2191-916X |