Wave Heave Compensation Based on An Optimized Backstepping Control Method

作     者：ZHANG Qin WANG Xing-yue ZHANG Zheng-zhong ZHOU Fu-na HU Xiong ZHANG Qin;WANG Xing-yue;ZHANG Zheng-zhong;ZHOU Fu-na;HU Xiong

作者机构：Logistics Engineering CollegeShanghai Maritime UniversityShanghai 201306China 

出 版 物：《China Ocean Engineering》 (中国海洋工程（英文版）)

年 卷 期：2022年第36卷第6期

页      面：959-968页

核心收录：

学科分类：0820[工学-石油与天然气工程] 0711[理学-系统科学] 08[工学] 0807[工学-动力工程及工程热物理] 082402[工学-轮机工程] 0824[工学-船舶与海洋工程] 0814[工学-土木工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(Grant No.62073213). 

主　　题：heave compensation Stewart platform servo motor and electric cylinder system model backstepping control particle swarm optimization 

摘      要：The vessel heave motion caused by wave action increases the difficulty of installing offshore wind equipment.On-board wave heave compensation devices have therefore become increasingly critical in ensuring the stability and safety of the gangway and working platform.This study accordingly improves the compensation effect of such devices by developing a wave heave compensation model and designing an optimized backstepping control method.First,a model of the compensation system including the servo motor and electric cylinder is established by using the mechanism method.Second,a backstepping control method is designed to track the vessel heave motion,and particle swarm optimization is applied to optimize the control parameters.Finally,MATLAB/Simulink is used to simulate the application of the optimized backstepping controller,then regular and irregular heave motions are applied as input to a Stewart platform to evaluate the effectiveness of the control method.The experimental results show that the compensation efficiency provided by the proposed optimized backstepping control method is larger than 75.0%.