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Wave heave compensation Based on An Optimized Backstepping Control Method

China Ocean Engineering 2022年第6期36卷 959-968页

作者： ZHANG Qin WANG Xing-yue ZHANG Zheng-zhong ZHOU Fu-na HU Xiong Logistics Engineering College Shanghai Maritime UniversityShanghai 201306China

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%.

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

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Design of heave compensation Control System Based on Variable Parameter PID Algorithm

Design of Heave Compensation Control System Based on Variabl...

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第30届中国控制与决策会议

作者： Mei Tianxiang Yang Yi Chen Jianbo Zhang Guihong Yang Yuanpei Wang Jianshan Gu Haiqin Yang Hui College of Electrical Engineering Nantong University

In this paper,PID control system based on variable parameters is designed to solve the problems of wave impact on ships and modeling errors in the control system of large-scale ships recharging supply boat.The mathematical model of heave compensation control system is established and the system is modeled and simulated by MATLAB/Simulink software.Simulation results show that the use of variable parameter PID control can well consider the uncertainties and conditions at sea,to achieve slight deviation of the set speed and the actual speed.And then it can realize the speed compensation,.The experimental results show the effectiveness of this controller.

关键词： PID algorithm Control system heave compensation MATLAB simulation

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Research on the Performance of Passive heave Compensator for Tethered Remotely Operated Vehicle System

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Journal of Shanghai Jiaotong university(Science) 2011年第1期16卷 40-44页

作者：吴开塔姚宝恒付斌任平连琏 State Key Laboratory of Ocean Engineering Shanghai Jiaotong University Underwater Technology Institute Shanghai Jiaotong University

A passive heave compensator is designed to enhance the operation safety of a 4.5 km remotely operated vehicle (ROV).This paper proposes a novel idea of designing a compensator with relatively low natural period to optimize gas volume and while adding a special device to remove the problem of ineffectiveness and resonance in long seas.Numerical simulations are done based on serious dynamic model of the whole system,including the compensator,the umbilical tether and the vehicle,solved by the fourth-order Runge-Kutta scheme.The compensator provides great attenuation of motion and tension in most sea states.As the working depth increases,the system natural period decreases,resulting in the occurrence of risk of resonance.By regulating the system damping,the compensator can be effective in these situations.

关键词： heave compensation spring isolation nonlinear dynamics damping control

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