Research on the Dynamic Modeling and Fuzzy Control Strategy of cable-Driven Parallel Cleaning Robot

The surface of a ship's hull is prone to the attachment of marine organisms and other contaminants. If not cleaned regularly, this can lead to increased sailing resistance and fuel consumption, thereby reducing the ship's energy efficiency. Manual cleaning faces issues such as long cleaning times and operational hazards, resulting in significant time and labor costs. To tackle this issue, The present study presents a cable-driven cleaning robot, which incorporates a cable-driven parallel robot as its fundamental framework, along with a high-pressure water jet serving as the actuator, thereby creating a hybrid robotic system. First, the dynamic model of this system is established using the Lagrangian method. Building on this model, a Fuzzy-PID control strategy is proposed, enabling accurate trajectory tracking. To validate the effectiveness of the proposed strategy, numerical simulations are performed as a final step. The outcomes of the simulation indicate that, when contrasted with the conventional PID control approach, the proposed Fuzzy-PID control strategy significantly improves control accuracy and exhibits superior performance in terms of stability. The cable-driven cleaning robot and its control strategy presented in this paper offer a theoretical basis and practical support for applications in the domain of ship cleaning. Since the system uses only four cables to actuate the robot in the plane, we establish a planar coordinate system (xoy), where the y-axis represents the error and the x-axis represents time.