Research On Self-adaptive Control Applied In The Wave Compensate System

Wave Compensator for deep-sea mining device is one of the absolutely necessary instruments to secure the deep-sea mining production. In order to reduce the effect of the mining ship on the lifting pipe, it is necessary to install a Wave Compensator between the lifting pipe and the mining ship to reduce the axial stress and deformation of the lifting pipe and avoid its fatigue damage. In order to make sure the process of connecting and disconnecting the mining device in order and safety, it is necessary to add another Wave Compensator. It is named Upper Waver Compensator in the paper.The paper design the system of Upper Waver Compensator based on the movement characterize of Upper Waver Compensator, and analyze the system in theory. And research the control law based on the computer simulation carried out.The main work of the paper is as follows:The necessary of Upper Waver Compensator is demonstrated based on process of connecting and disconnecting the mining device. And the system of Upper Waver Compensator is designed.In order to satisfy the demand of theory analysis and computer simulation, firstly, the mathematic models are established for the spool movement of a servo valve. And the simulation models are established. Employing the simulation models, computer simulation is carried out by MATLAB and SIMULINK tools.In the course of simulation, Self-adaptive control are taken to enhance the anti-jamming performance of system anti-jamming performance.The results of simulation show that the Self-adaptive controller has the robust character for the change of the model parameters, and the outside inferences and load variation can he retained effectively.