Application of fuzzy-PID in constant tension control of pipeline robot cable

Based on the traditional PID controller,the fuzzy-PID is adopted,and the controller parameter is adjusted automatically in constant tension control of pipeline robot capstan cable.Fuzzy-PID control system is simulated under the condition of step signal by Matlab.Experimental result shows that the value of motor current was constant under a fixed value of tension.Fuzzy-PID control system can realize constant tension control of cable.It has fast dynamic response,steady state and high precision.The system can achieve the control requirements.