A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave Compensation
In order to carry out offshore operations smoothly in severe sea conditions, a shipborne Stewart platform for wave compensation is required. Due to the random characteristics of waves, traditional control algorithms cannot accurately compensate for the motion caused by a wave. For the electric shipb...
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MDPI AG
2024-11-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/12/2160 |
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| author | Daoxi Li Shuqing Wang Xiancang Song Zepeng Zheng Wei Tao Jvpeng Che |
| author_facet | Daoxi Li Shuqing Wang Xiancang Song Zepeng Zheng Wei Tao Jvpeng Che |
| author_sort | Daoxi Li |
| collection | DOAJ |
| description | In order to carry out offshore operations smoothly in severe sea conditions, a shipborne Stewart platform for wave compensation is required. Due to the random characteristics of waves, traditional control algorithms cannot accurately compensate for the motion caused by a wave. For the electric shipborne Stewart platform, this paper proposes a backpropagation (BP)-neural-network-based proportional–integral–derivative (PID) control algorithm where the PID parameters are adaptively adjusted by a BP neural network. The control algorithm can improve the robustness and wave compensation precision of the wave compensation system. First, a numerical system model of the shipborne Stewart platform was established according to the classical kinematic model and dynamic model. Then, the BP-PID control algorithm was designed based on the joint space control. In order to reduce the network’s sensitivity to local details and quickly find the global minimum, the gradient descent method with the momentum term is used in the neural network. At last, the availability and rationality of the new method were substantiated through a simulation comparison under various sea conditions. The simulation results indicate that the proposed control method achieves a higher compensation accuracy in three directions under various sea states, compared with traditional PID control algorithm. Under the irregular wave disturbance, the new control method can reduce the position deviation by about 6.56 times compared with a traditional PID control algorithm. The new control algorithm will play an active role in the control of the shipborne Stewart platform. |
| format | Article |
| id | doaj-art-2a8a5683f2a7493687e33c3e5eb1ed27 |
| institution | DOAJ |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-2a8a5683f2a7493687e33c3e5eb1ed272025-08-20T02:57:18ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-11-011212216010.3390/jmse12122160A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave CompensationDaoxi Li0Shuqing Wang1Xiancang Song2Zepeng Zheng3Wei Tao4Jvpeng Che5College of Engineering, Ocean University of China, Qingdao 266100, ChinaCollege of Engineering, Ocean University of China, Qingdao 266100, ChinaCollege of Engineering, Ocean University of China, Qingdao 266100, ChinaCollege of Engineering, Ocean University of China, Qingdao 266100, ChinaCollege of Engineering, Ocean University of China, Qingdao 266100, ChinaCollege of Engineering, Ocean University of China, Qingdao 266100, ChinaIn order to carry out offshore operations smoothly in severe sea conditions, a shipborne Stewart platform for wave compensation is required. Due to the random characteristics of waves, traditional control algorithms cannot accurately compensate for the motion caused by a wave. For the electric shipborne Stewart platform, this paper proposes a backpropagation (BP)-neural-network-based proportional–integral–derivative (PID) control algorithm where the PID parameters are adaptively adjusted by a BP neural network. The control algorithm can improve the robustness and wave compensation precision of the wave compensation system. First, a numerical system model of the shipborne Stewart platform was established according to the classical kinematic model and dynamic model. Then, the BP-PID control algorithm was designed based on the joint space control. In order to reduce the network’s sensitivity to local details and quickly find the global minimum, the gradient descent method with the momentum term is used in the neural network. At last, the availability and rationality of the new method were substantiated through a simulation comparison under various sea conditions. The simulation results indicate that the proposed control method achieves a higher compensation accuracy in three directions under various sea states, compared with traditional PID control algorithm. Under the irregular wave disturbance, the new control method can reduce the position deviation by about 6.56 times compared with a traditional PID control algorithm. The new control algorithm will play an active role in the control of the shipborne Stewart platform.https://www.mdpi.com/2077-1312/12/12/2160BP neural networkwave compensationStewart platformPID control algorithm |
| spellingShingle | Daoxi Li Shuqing Wang Xiancang Song Zepeng Zheng Wei Tao Jvpeng Che A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave Compensation Journal of Marine Science and Engineering BP neural network wave compensation Stewart platform PID control algorithm |
| title | A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave Compensation |
| title_full | A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave Compensation |
| title_fullStr | A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave Compensation |
| title_full_unstemmed | A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave Compensation |
| title_short | A BP-Neural-Network-Based PID Control Algorithm of Shipborne Stewart Platform for Wave Compensation |
| title_sort | bp neural network based pid control algorithm of shipborne stewart platform for wave compensation |
| topic | BP neural network wave compensation Stewart platform PID control algorithm |
| url | https://www.mdpi.com/2077-1312/12/12/2160 |
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