Simulation Comparisons among PID Control, Adaptive Control and MFC on Ship Anti-rolling Tank Test Platform

Ship anti-rolling tank test platform is an important equipment for the study of the anti-rolling tank and the accurate imitation of the ship moment in the sea waves, which plays a key role in the design of the ship anti-rolling test platform. In this paper, the electro-hydraulic servo system is employed to imitate the sea wave moment. Based on the comparison with the PID control and the adaptive control methods, the model-free control method is applied to the electro-hydraulic servo system and the model-free controller is also provided. Experimental results indicate that the traditional PID controller is designed under a certain sea condition, while adaptive control method can be used under non-assumed sea condition and obtain better tracking performance. However, the linear adaptive control is a model-based method, which can´t well handle the system´s nonlinearity and time varying. The model-free control method requires no system´s mathematical model and doesn´t deal with it, which can be more robust and flexible. And with fewer fixed parameters, simpler algorithm and fast system response, the model-free control method greatly simplifies the fixing procedure and also give better performances in the sea navigation control, especially under complex and variable sea conditions.