Research on wave heave simulation and adaptive compensation strategy based on disturbance observer
MA Chang-li1, LIU Cong2, MA Ben3
1.Naval of Armament, Beijing 100161, China 2.China Aerospace Academy of Systems Science and Engineering, Beijing 100089, China 3.Suzhou Research Institute, Institute of Electronics, Chinese Academy of Sciences, Suzhou 215123, China
Abstract The rapid upgrade of marine equipment makes the sea hoisting widely used, but the hoisting equipment is susceptible to wind and waves, which reduces the control accuracy of system. To improve the control accuracy of marine hoisting system，an adaptive backstepping compensation strategy for wave heave based on disturbance observer is proposed. Taking the wave heave compensation system as the research object, the tracks of ship heave motion and the nonlinear model of the electro-hydraulic lifting system in the third-level sea condition were deduced. Ship heave motion was simulated on wave simulation platform, and the nonlinear error of the electro-hydraulic lifting system was suppressed by an adaptive backstepping compensation strategy based on the disturbance observer. The stability of the adaptive backstepping compensation strategy was proved by Lyapunov theory, and the controller performance was verified by simulation and test. Test results showed that the adaptive backstepping compensation strategy based on the disturbance observer had higher control accuracy than the traditional PID (proportion integration differentiation) controller. Aiming at the control system of marine hoisting equipment, the influence of external disturbance and system nonlinear disturbance on the controller can be effectively restrained by the adaptive backstepping compensation strategy based on the disturbance observer, so that the position compensation accuracy of heave motion of marine hoisting equipment can be increased.
MA Chang-li, LIU Cong, MA Ben. Research on wave heave simulation and adaptive compensation strategy based on disturbance observer. Chinese Journal of Engineering Design, 2019, 26(6): 728-735.
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