Ocean wave model prediction method based on active disturbance rejection state observer

Abstract

The invention relates to an ocean wave model prediction method based on an active disturbance rejection state observer and belongs to the data processing and prediction technology field. The method comprises steps that firstly, rapid Fourier transform of heave displacement signals at a measurement time segment is carried out, amplitude and phase of a signal corresponding to each simple harmonic wave are solved, the main frequency component quantity of the heave motion and a harmonic wave parameter corresponding to each mode are identified through amplitude peak value detection, a Kalman observer is designed, the Kalman observer is utilized to observe each measured mode simple harmonic wave and each mode simple harmonic wave of main frequency components, a harmonic wave prediction parameter corresponding to each mode simple harmonic wave of the main frequency components is estimated and updated online, the heave motion of synthetic marine equipment in the future prediction time segment is predicted based on the prediction parameters, phase rectification compensation for a wave compensation system is carried out in advance, and the prediction effect is comprehensive, strict and accurate.

Description

technical field [0001] The invention relates to a sea wave model prediction method based on fast Fourier transform, an ADRS state observer and parameter adaptive compensation, and belongs to the technical field of data processing and prediction technology. Background technique [0002] For the active-passive composite heave compensation system applied to marine engineering equipment, it is necessary to detect the heave motion attitude of the mother ship or towed body accurately in real time, and then actively compensate the towed body displacement or cable tension in the opposite direction. Generally, a motion sensor (MRU or IMU, etc.) is used to detect the motion data of the ship. The sensor is composed of an accelerometer and a gyroscope, which can measure the roll, pitch and heave data of the ship, but its surge output (heave displacement) It is obtained by the acceleration through quadratic integration and filtering, and there is a certain time lag and large accuracy dev...

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Problems solved by technology

The Kalman filter method has a small amount of calculation and high prediction accuracy, but requires an accurate ship motion state equation, and its prediction accuracy is affected by wave frequency and sea conditions, so it is not appropriate to directly apply Kalman prediction in practice

[0004] Chinese patent document (application number CN201410290745.6) discloses a method for predicting the wave height of ocean waves based on the ARMA model; wave height prediction

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