Research On Shipborne Active Heave Compensation System Based On Active Disturbance Rejection Control

With the exploration from shallow sea to deep sea,the demand for relevant Marine engineering equipment is increasingly vigorous.For Marine equipment responsible for lifting operations at sea,the harsh working environment in deep sea will cause the ship to shake violently,and the load will also move violently with the ship,which poses a great threat to the safety of lifting operations at sea.Active heave compensation control is an effective means to reduce the impact of load on ship movement,ensure the safety of Marine personnel and equipment,and improve the efficiency of Marine operations even in complex and harsh Marine environment.According to the working environment and characteristics of deep-sea vessels,this thesis studies the active heave compensation control system.Firstly,the development history of heave compensation technology is described,the current research status at home and abroad is introduced,and then the necessity and long-term significance of the research on heave compensation control technology is put forward.The classification of heave compensation technology is introduced and the working principle is analyzed.The control system is described.The research content of this thesis is determined in view of the nonlinear,time-delay and strong interference problems existing in the control system,and the overall design scheme of the system is determined.Secondly,the ship coordinate system transformation and mathematical modeling are analyzed.The relationship between ship detection unit information and compensation point information is established by establishing hull and geodetic coordinate system and coordinate transformation through inverse kinematics solution.Through reasonable model simplification and assumption,the mathematical models of the hydraulic drive system and the mechanical actuator of the valve controlled hydraulic horse were established and the transfer function of the system was calculated,which laid the foundation for the subsequent numerical simulation.Then the control strategy scheme is determined and the numerical simulation is carried out.The simulation model of shipborne active heave compensation control system based on active disturbance rejection control is established.In this thesis,the nonlinear ship control system with interference and time-delay is simulated,and the feasibility of active disturbance rejection control algorithm is verified by comparing with PID control.The adaptive performance of the active disturbance rejection control was analyzed by setting different levels of sea state,loading different environmental loads such as sea breeze,wave and current,and without changing the parameters of the control algorithm.Finally,the model experiment is carried out to verify the simulation analysis.The software and hardware required to build the compensation simulation platform are introduced,and the performance of the active disturbance rejection control algorithm is verified by the model experiment.The model experiment results have important guiding significance and reference value for the practical engineering application and promotion.