Abstract:Considering that the control performance of drilling rig platform’〖KG-*2〗s singlechannel hydraulic leveling leg affected the whole leveling system’s performance,it was proposed to add cascade singlechannel controller into each hydraulic leg on the basis of existing control means to drilling rig platform, which was beneficial to reduce the leveling time. Also, the singlechannel hydraulic leveling system’〖KG-*2〗s nonlinear mathematic model was obtained by considering the nonlinearities and uncertainties. Then, the fuzzyadaptivePID controller was designed and the simulation was conducted via Simulink software. Simulation results demonstrate that the designed controller can effectively improve single hydraulic support leg’ performance of tracking the input signal from the global controller and the tracking velocity, thus the tracking error is reduced half, which can help to improve the whole leveling system’s control performance, especially the leveling time. The analysis provides theoretical basis for the improvement of the drilling rig platform’s leveling system.