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Deep sea crane active heaving compensation controller and control system

A heave compensation and control system technology, applied to general control systems, control/regulation systems, cranes, etc., can solve problems such as high-precision frequency response, low speed, and non-linear characteristics of actuators without considering external disturbances at the same time, to achieve Robust and simple effect

Active Publication Date: 2019-11-08
SHANDONG UNIV
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Problems solved by technology

However, there is still a problem in the AHC system: In the AHC system, people usually use electro-hydraulic servo motors as actuators, which have excellent low-speed performance, high precision and good frequency response
[0007] The inventors found that the current heave compensation controller does not take into account the external disturbance and the nonlinear characteristics of the actuator at the same time, so that the winch of the deep sea crane cannot quickly and accurately track the desired angle

Method used

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  • Deep sea crane active heaving compensation controller and control system
  • Deep sea crane active heaving compensation controller and control system
  • Deep sea crane active heaving compensation controller and control system

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Embodiment Construction

[0065] The present disclosure will be further described below in conjunction with the accompanying drawings and embodiments.

[0066] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used in this embodiment have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0067] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...

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Abstract

The invention provides a deep sea crane active heaving compensation controller and a control system. The deep sea crane active heaving compensation controller has a double-loop control structure. Theouter loop control structure is an active-disturbance-rejection controller, which is used to compensate outer disturbances, and is used to generate an expected angle for an inner loop. The inner loopcontrol structure is an equivalent saturation model prediction controller, which is used to compensate an input saturation and dead zone characteristic of a hydraulic motor, and therefore the hydraulic motor is guaranteed to drive a winch to track the expected angle quickly and accurately.

Description

technical field [0001] The disclosure belongs to the field of compensation controller design, and in particular relates to an active heave compensation controller and a control system for a deep-sea crane. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Deep sea crane is one of the core equipment of ocean engineering, mainly used for hoisting and transportation of underwater equipment. Since the deep-sea crane is installed on the ship, in the process of deep-sea operation, due to the influence of waves, ocean currents and sea wind, the deep-sea operation ship itself will have heave movement, so that the underwater load will move with the ship, which is harmful to offshore operators and Device security poses a great threat. Therefore, the research and design of the heave compensation system is of great significance to improve the operati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042B66C13/02B66C23/53
Inventor 马昕李轾宋锐荣学文李贻斌
Owner SHANDONG UNIV
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