Method for heave compensation for diving and electronic device

Abstract

The application provides a diving heave compensation method and system, and relates to the field of automatic control. The diving heave compensation method comprises the following steps: obtaining a motion state signal of a diving system; obtaining a first disturbance signal and a second disturbance signal according to the motion state signal, the frequency of the first disturbance signal being less than the frequency of the second disturbance signal; determining a first compensation value based on the first disturbance signal and a second compensation value based on the second disturbance signal; generating a compensation control signal based on the first compensation value and the second compensation value, and sending the compensation control signal to a hydraulic device; wherein the hydraulic device comprises a first hydraulic device and at least one second hydraulic device, the kinetic energy provided by the first hydraulic device for the diving system is greater than the kinetic energy provided by the second hydraulic device for the diving system, and the at least one hydraulic device is connected in parallel to the first hydraulic device.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a heave compensation method and electronic equipment for diving. Background Technology

[0002] When conducting diving operations in complex nearshore shallow waters, diving systems simultaneously face multiple disturbances. Especially in projects such as port and channel widening and subsea pipeline laying, diving systems must maintain precise vertical positioning to ensure operational safety and accuracy. Current technologies primarily employ single-type hydraulic compensation devices, which struggle to effectively address the superimposed disturbances of multiple spectral characteristics. This results in poor positional stability of the diving system under complex sea conditions, leading to over-compensation or under-compensation, thus affecting the accuracy and efficiency of diving operations. Summary of the Invention

[0003] In view of this, this application provides a method and system for compensating heave for diving.

[0004] One aspect of this application provides a heave compensation method for diving, comprising:

[0005] Obtain motion status signals from the diving system;

[0006] A first disturbance signal and a second disturbance signal are obtained based on the motion state signal, wherein the frequency of the first disturbance signal is less than the frequency of the second disturbance signal;

[0007] A first compensation value is determined based on the first disturbance signal, and a second compensation value is determined based on the second disturbance signal.

[0008] A compensation control signal is generated based on the first compensation value and the second compensation value, and the compensation control signal is sent to the hydraulic device;

[0009] The hydraulic device includes a first hydraulic device and at least one second hydraulic device. The first hydraulic device provides greater kinetic energy to the diving system than the second hydraulic device provides to the diving system. The at least one hydraulic device is connected in parallel to the first hydraulic device.

[0010] According to an embodiment of this application, determining the first compensation value based on the first disturbance signal includes:

[0011] The change in the discharge volume of the first hydraulic device is determined based on the first disturbance signal;

[0012] The current air chamber pressure of the first hydraulic device is determined based on the change in the discharged fluid volume.

[0013] A first compensation value is determined based on the current air chamber pressure and the target air chamber pressure. The target air chamber pressure is negatively correlated with the first disturbance. The first compensation value is used to adjust the opening of the vent valve in the first hydraulic device.

[0014] According to an embodiment of this application, before determining the first compensation value based on the first disturbance signal, the method further includes:

[0015] The first target signal is obtained by predicting the change value of the first disturbance signal within a preset time period;

[0016] A first target volume is determined based on the first target signal, and the first target volume represents the expected discharge volume of the first hydraulic device after a preset time.

[0017] The target air chamber pressure is determined based on the first target volume.

[0018] According to an embodiment of this application, determining the second compensation value based on the second disturbance signal includes:

[0019] The disturbance error is determined based on the second disturbance signal, and the disturbance error characterizes the difference between the current high-frequency disturbance displacement of the diving system and the ideal disturbance state;

[0020] A second compensation value is determined based on the disturbance error, and the second compensation value is used to adjust the proportional valve of the second hydraulic device.

[0021] According to an embodiment of this application, after determining the second compensation value based on the second disturbance signal, the method further includes:

[0022] The second target signal is obtained by predicting the change value of the second disturbance signal after a preset time period;

[0023] A second correction value is obtained based on the second target signal, and the second compensation value is adjusted using the second correction value.

[0024] According to an embodiment of this application, generating a compensation control signal based on the first compensation value and the second compensation value includes:

[0025] The first compensation value is multiplied by the first weighting coefficient to obtain the first weighted compensation value;

[0026] Multiply the second compensation value by the second weighting coefficient to obtain the second weighted compensation value;

[0027] A compensation control signal is generated based on the first weighted compensation value and the second weighted compensation value;

[0028] The first weighting coefficient is positively correlated with the frequency band energy of the first disturbance signal, and the second weighting coefficient is positively correlated with the frequency band energy of the second disturbance signal.

[0029] According to an embodiment of this application, after obtaining the motion state signal of the diving system, the process includes:

[0030] The real-time status values ​​of the diving system are calculated based on the motion state signals. The motion state signals include the vertical displacement, vertical velocity, attitude angular velocity of the diving system, and air chamber pressure of the first power unit. The real-time status values ​​include displacement status, velocity status, and pressure status.

[0031] The real-time status value is input to the spectrum analysis module to calculate the frequency band energy of the first disturbance signal and the second disturbance signal.

[0032] Another aspect of this application provides a heave compensation system for diving, comprising:

[0033] The signal acquisition module is used to acquire motion status signals of the diving system.

[0034] The signal decomposition module is used to obtain a first disturbance signal and a second disturbance signal based on the motion state signal, wherein the frequency of the first disturbance signal is less than the frequency of the second disturbance signal;

[0035] The compensation determination module is used to determine a first compensation value based on the first disturbance signal and a second compensation value based on the second disturbance signal.

[0036] The signal compensation module is used to generate a compensation control signal based on the first compensation value and the second compensation value, and send the compensation control signal to the hydraulic device;

[0037] The hydraulic device includes a first hydraulic device and at least one second hydraulic device. The first hydraulic device provides greater kinetic energy to the diving system than the second hydraulic device provides to the diving system. The at least one hydraulic device is connected in parallel to the first hydraulic device.

[0038] Another aspect of this application provides an electronic device comprising:

[0039] One or more processors;

[0040] Memory, used to store one or more programs.

[0041] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described above.

[0042] Another aspect of this application provides a computer-readable storage medium storing computer-executable instructions that, when executed, are used to implement the method described above.

[0043] By employing the embodiments of this application, spectral analysis of the motion state signal divides the disturbance into low-frequency and high-frequency components. Low-frequency disturbances typically have large amplitudes but change slowly, while high-frequency disturbances have smaller amplitudes but change rapidly. Separating and processing these two types of disturbances allows for optimized compensation strategies tailored to their respective characteristics. Secondly, the hydraulic device of this application adopts a parallel structure with differentiated kinetic energy configurations. The first hydraulic device provides greater kinetic energy to handle large low-frequency fluctuations, while the second hydraulic device provides less kinetic energy to handle minor high-frequency disturbances. The advantage of this structure is its efficient energy distribution across the system. The high-energy device does not need to frequently handle small disturbances, and the low-energy device does not need to bear large fluctuations, thus avoiding problems of over-response or under-response in the system.

[0044] In complex sea conditions, when a diving system is simultaneously subjected to low-frequency hull rolling and high-frequency water flow impact, this application can calculate compensation values ​​for both disturbances separately and generate a comprehensive control signal. Compared to traditional single compensation devices, this method significantly improves position control accuracy, reduces energy consumption, and extends equipment lifespan. Attached Figure Description

[0045] The above and other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0046] Figure 1 A flowchart illustrating a diving heave compensation method provided in this application is shown schematically.

[0047] Figure 2 This schematic diagram illustrates a structural block diagram of a diving heave compensation system provided in this application;

[0048] Figure 3 A schematic block diagram of an electronic device provided in this application is shown. Detailed Implementation

[0049] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0050] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0051] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0052] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0053] Figure 1 A flowchart illustrating a diving heave compensation method provided in an embodiment of this application is shown.

[0054] like Figure 1 As shown, the diving heave compensation method may specifically include steps S101 to S104.

[0055] Step S101: Obtain the motion status signal of the diving system.

[0056] The diving system refers to an integrated underwater engineering technology equipment that supports safe underwater operations and enables precise positioning. In the embodiments of this application, it can be understood as a diving bell system used for operations in complex near-shore shallow waters. This system is mainly used for underwater engineering operations requiring high-precision positioning, such as port construction, submarine pipeline laying, marine resource exploration, and maintenance of submarine facilities.

[0057] The diving system in this embodiment is mainly composed of several key components. The diving vessel forms the basic platform of the entire system, equipped with a power system, positioning system, and operation control center. The vessel is equipped with a dedicated diving deck for installing the heave compensation device and the diving bell hoisting system. In complex sea conditions, the vessel itself generates high-frequency, low-amplitude heave motion and low-frequency, high-amplitude pitching and rolling motion. These disturbances are directly transmitted to the diving system, affecting operational accuracy. The heave compensation device is the core component of this system, mainly composed of a first hydraulic device and a second hydraulic device. The first hydraulic device mainly includes a large main hydraulic cylinder, a gas-liquid accumulator, a gas chamber pressure regulation system, and a low-friction pulley system, primarily responsible for handling low-frequency, high-amplitude disturbances. The second hydraulic device includes a servo motor-driven miniature hydraulic cylinder, a high-precision proportional valve, and a position sensor, specifically designed to handle high-frequency, low-amplitude disturbances. These two hydraulic devices are connected in parallel, working together on the diving bell hoisting system to achieve composite dynamic heave compensation.

[0058] The diving bell, serving as the working platform of the entire system, provides divers with a safe underwater working environment. The diving bell is a sealed pressure chamber structure, equipped with a life support system, communication system, and working tools. Attitude sensors and depth gauges are mounted on the bell to monitor its position and attitude information in real time. The diving bell is connected to the heave compensation device via steel cables, and its precise position is controlled by the compensation system. The control system is the information processing center for intelligent compensation, including a central processing unit, a multi-source sensor network, a spectrum analysis module, and a collaborative control module. This system collects various motion state signals, separates disturbance signals of different frequencies through spectrum analysis, and generates precise compensation control signals according to a preset algorithm, driving the two hydraulic devices to work collaboratively. Monitoring sensors are distributed throughout the key parts of the entire diving system, including displacement sensors, velocity sensors, accelerometers, angular velocity sensors, and pressure sensors. Steel cables and connecting components reliably connect the diving bell to the heave compensation device, transmitting the heave compensation force. The steel cables are connected to the hydraulic cylinders through a specially designed low-friction pulley system, which amplifies the small movements of the hydraulic cylinders into a larger range of compensation displacements.

[0059] The components of the above-mentioned diving system form a closed-loop control network: ship disturbances are captured by the monitoring and sensing system, the control system analyzes and processes them to generate compensation commands, and the heave compensation device executes precise compensation actions to ultimately achieve stable positioning of the diving bell in complex sea conditions.

[0060] Furthermore, the motion state signal refers to a data set describing the dynamic parameters of an object in the time dimension, such as position, velocity, acceleration, angle, and angular velocity. It is a quantitative measurement value characterizing the kinematic properties of the object. In the embodiments of this application, it can be understood as the key dynamic parameters such as vertical displacement, vertical velocity, attitude angular velocity, and air chamber pressure of the first hydraulic device collected in real time by the diving system in complex sea conditions. These parameters are used to accurately characterize the instantaneous dynamic response characteristics of the diving system under disturbances at different frequencies.

[0061] In step S101, this embodiment acquires motion state signals through a multi-source sensor network deployed in key parts of the diving system. Vertical displacement signals are acquired using a high-precision magnetostrictive displacement sensor installed between the wire rope and pulley system, achieving a measurement accuracy of ±0.5mm. Vertical velocity signals can be calculated differentially from the displacement signals or directly measured using a dedicated velocity sensor. Attitude angular velocity is collected by MEMS gyroscopes installed on the hull and diving bell, respectively, with a sampling frequency of 100Hz. The pressure of the first hydraulic device's air chamber is monitored in real-time by a high-precision pressure sensor at the top of the air chamber, with a measurement range of 0–30MPa and an accuracy of ±0.1%. The raw data collected by these sensors is transmitted to the central control unit via a CAN bus or industrial Ethernet. Time synchronization technology ensures time alignment of various data types, while filtering and calibration processes are performed to eliminate environmental noise and sensor drift effects. The control system organizes the processed signals into a structured motion state data matrix, including parameters such as timestamps, vertical displacement, vertical velocity, attitude angular velocity, and air chamber pressure, forming a complete description of the motion state.

[0062] Step S102: Obtain a first disturbance signal and a second disturbance signal based on the motion state signal, wherein the frequency of the first disturbance signal is less than the frequency of the second disturbance signal.

[0063] The first and second disturbance signals refer to external dynamic interferences with different spectral characteristics that affect the positional stability of the diving system. These disturbances are transmitted to the diving bell system through the hull, manifesting as displacement fluctuations with different frequencies and amplitudes. In this embodiment, the first disturbance signal can be understood as a low-frequency disturbance with a longer period and larger amplitude, mainly originating from the hull's pitching and rolling motion; the second disturbance signal refers to a high-frequency disturbance with a shorter period and smaller amplitude, mainly originating from the vertical heave motion caused by the direct impact of waves on the hull. These two disturbance signals are used to drive compensation devices with different characteristics to achieve targeted dual-band disturbance suppression.

[0064] The first and second disturbance signals are clearly separated in the frequency domain, but they are a superimposed composite disturbance in the time domain. The low-frequency disturbance (the first disturbance signal) has energy concentrated in the 0.01Hz to 0.125Hz frequency band, corresponding to long-period motions of more than 8 seconds; the high-frequency disturbance (the second disturbance signal) has energy mainly distributed in the 0.25Hz to 0.5Hz frequency band, corresponding to short-period motions of 2 to 4 seconds.

[0065] The two types of disturbances have different physical causes: low-frequency disturbances are mainly caused by nearshore currents, tidal changes, and long-period swells, resulting in slow, low-frequency, high-amplitude rolling of the hull; high-frequency disturbances are mainly caused by short-period wind and waves acting directly on the hull, causing rapid but smaller-amplitude pitching and rolling. Because the energy distribution, physical characteristics, and mechanisms of influence on the diving bell are completely different for these two types of disturbances, different compensation strategies and actuators are required.

[0066] In this embodiment, the composite disturbance signal is first separated into independent disturbance signals of different frequency bands using a spectrum analysis method. Specifically, the control system uses a real-time fast Fourier transform algorithm to perform spectrum analysis on the acquired vertical displacement signal, setting two bandpass filters: a low-frequency bandpass filter to extract the first disturbance signal and a high-frequency bandpass filter to extract the second disturbance signal. After frequency domain filtering, the frequency domain signal is then restored to the time domain first and second disturbance signals using an inverse Fourier transform (IFFT).

[0067] For example, the first disturbance signal is defined as:

[0068]

[0069] The second disturbance signal is defined as:

[0070]

[0071] Step S103: Determine the first compensation value based on the first disturbance signal and the second compensation value based on the second disturbance signal.

[0072] The first compensation value and the second compensation value refer to control parameters calculated for disturbances with different frequency characteristics, used to drive the corresponding hydraulic devices to perform compensation actions. In this embodiment, the first compensation value is a control quantity calculated based on low-frequency disturbance signals to adjust the opening of the vent valve in the air chamber of the first hydraulic device; the second compensation value is a control quantity calculated based on high-frequency disturbance signals to adjust the opening of the proportional valve in the second hydraulic device. The two compensation values ​​act on hydraulic devices with different characteristics, working together to achieve precise and stable control of the diving bell position under complex sea conditions.

[0073] Based on the above embodiments, as an optional embodiment, in step S103: determining a first compensation value based on the first disturbance signal. Specifically, this may further include the following steps:

[0074] Step S201: Determine the change in the discharge volume of the first hydraulic device based on the first disturbance signal.

[0075] The change in discharge volume of the first hydraulic device refers to the amount of oil volume transfer caused by the displacement of the hydraulic cylinder piston in the first hydraulic device under low-frequency disturbance. In the embodiments of this application, it can be understood as the displacement of the main hydraulic cylinder piston under the influence of the low-frequency swaying motion of the hull, resulting in the change in the volume of oil discharged from or entering the hydraulic cylinder. This parameter directly affects the air chamber volume and air chamber pressure, and is a fundamental parameter for achieving passive compensation.

[0076] For example, the relationship between the change in discharge volume and the disturbance signal can be expressed as:

[0077]

[0078] In the formula, A is the effective area of ​​the first hydraulic device, x d (t) represents the first disturbance signal.

[0079] Furthermore, if the disturbance signal is a displacement signal, and the effective area (piston area) of the first hydraulic device is constant at A, then the change in the discharge volume of the first hydraulic device can be expressed as:

[0080] ΔV(t)=A·x d (t);

[0081] In the formula, A is the effective area of ​​the first hydraulic device.

[0082] Step S202: Determine the current air chamber pressure of the first hydraulic device based on the change in the volume of the drained fluid.

[0083] The current air chamber pressure of the first hydraulic device refers to the real-time pressure value of the gas in the air chamber of the gas-liquid accumulator in the first hydraulic device. In the embodiments of this application, it can be understood as the gas pressure in the air chamber dynamically adjusted according to the change of the discharge volume after the main hydraulic cylinder is connected to the gas-liquid accumulator. This pressure directly determines the magnitude of the compensation force provided by the hydraulic device.

[0084] In a hydraulic heave compensation system, there is a direct physical relationship between the air chamber pressure and the compensation force; the air chamber pressure multiplied by the effective piston area equals the compensation force. When the diving system is disturbed, a compensation force equal in magnitude and opposite in direction to the disturbance force is needed to counteract the disturbance's effects. Accurate control of the air chamber pressure is a prerequisite for generating a precise compensation force.

[0085] Specifically, the theoretical value of the gas chamber pressure is calculated based on the change in drain volume and the gas law. The system treats the gas as a polytropic process (between isothermal and adiabatic), calculating the current theoretical gas chamber pressure using the initial gas chamber pressure, initial gas chamber volume, and the current change in drain volume. Typically, the initial gas chamber pressure is set in the range of 10-15 MPa, the initial gas chamber volume is 50-80 L, and the polytropic index is usually taken as a value between 1.25 and 1.4, which is determined through system calibration.

[0086] For example, the initial pressure (initial state) of the gas chamber is P0; the initial volume of the gas chamber is V0; the gas follows a polytropic compression-expansion process (polytropic exponent is n); according to the gas state equation, the current pressure of the gas chamber can be determined as:

[0087]

[0088] It is worth noting that because the discharge of liquid causes the volume of the air chamber to increase, the volume of the air chamber is the initial volume minus the negative value of the volume change due to the discharge. Therefore, it is actually an addition. The sign should be adjusted according to the actual definition. If the actual definition is that the discharge of liquid reduces the volume of the air chamber to V0-ΔV(t).

[0089] Step S203: Determine a first compensation value based on the current air chamber pressure and the target air chamber pressure. The target air chamber pressure is negatively correlated with the first disturbance. The first compensation value is used to adjust the opening of the vent valve in the first hydraulic device.

[0090] The target air chamber pressure refers to the ideal air chamber pressure calculated by the system based on the current disturbance state to achieve the best compensation effect. In this embodiment, it can be understood as the pressure value that the gas in the gas-liquid accumulator air chamber should reach, dynamically calculated by the system based on the first disturbance signal. This pressure value is negatively correlated with the first disturbance signal; that is, the pressure should decrease when the disturbance is upward and increase when the disturbance is downward. This is used to generate a compensating force opposite to the direction of the disturbance to counteract the influence of low-frequency disturbances on the position of the diving bell.

[0091] During the heave compensation process of a diving system, when the diving bell system is affected by low-frequency disturbances, a compensating force equal in magnitude and opposite in direction to the disturbance force is needed to maintain the stability of the diving bell's position. The compensating force is generated by the air chamber pressure through piston action; therefore, adjusting the air chamber pressure is a direct means of controlling the compensating force. By comparing the current air chamber pressure with the target air chamber pressure, the required first compensation value is calculated, which is used to precisely control the opening of the vent valve, thereby achieving precise adjustment of the air chamber pressure.

[0092] This embodiment first determines the target air chamber pressure. The system calculates the ideal target air chamber pressure based on the first disturbance signal and the diving bell load. According to the compensation principle, when the disturbance is upward, the system needs to reduce the air chamber pressure to generate a downward compensating force; conversely, when the disturbance is downward, the system needs to increase the air chamber pressure to generate an upward compensating force. Therefore, the target air chamber pressure is negatively correlated with the first disturbance signal. The system sets a reference pressure (typically 12-15 MPa) as the air chamber pressure under zero disturbance conditions, and then, combined with the amplitude of the current first disturbance signal, calculates the target air chamber pressure offset using a negative correlation coefficient (typically 0.5-2 MPa / m), ultimately determining the real-time target air chamber pressure.

[0093] After determining the target air chamber pressure, the system compares it with the current air chamber pressure determined in step S202 to calculate the pressure deviation. Based on this deviation value and the pressure change rate, the system uses a fuzzy PID control algorithm to calculate the first compensation value. The control algorithm dynamically adjusts the control parameters according to the magnitude and trend of the pressure deviation, improving the response speed under large deviations and the control accuracy under small deviations. Typically, the proportional coefficient is set in the range of 0.8-1.2, the integral time is 2-5 seconds, and the derivative time is 0.1-0.3 seconds. The control algorithm outputs the first compensation value, which is mapped to the opening control signal of the vent valve, with an opening range of 0-100% and a control accuracy of ±0.5%.

[0094] For example, let the target air chamber pressure be: P tar (t), the first compensation value is: u1(t);

[0095] The target air cavity pressure is negatively correlated with the disturbance, which can be expressed as:

[0096] P tar (t)=P set -K p ·x d (t);

[0097] In the formula, P set K represents the target air chamber pressure. p The negative correlation coefficient between target pressure and disturbance signal;

[0098] The first compensation value can then be determined using a typical control law, such as a proportional control law:

[0099] u1(t)=K u ·(P(t)-P target (t));

[0100] In the formula, K uThis is the control coefficient (gain), used to adjust the opening of the vent valve. Its sign depends on the relationship between the valve opening and pressure changes, and it is usually positive.

[0101] Based on the above embodiments, the calculation process of the target air chamber pressure is described below, which may specifically include the following steps:

[0102] Step S301: Predict the change value of the first disturbance signal within a preset time period to obtain the first target signal.

[0103] During diving operations, hydraulic systems have an inherent dynamic response time, typically resulting in a delay between the detection of a disturbance and the actual generation of compensating force. If compensation is based solely on the current disturbance signal, the compensation action will inevitably lag behind the disturbance change, reducing the compensation effect. This application's embodiment obtains a first target signal by predicting future disturbance signals, enabling the system to prepare compensation actions in advance and effectively offsetting the impact of response delay.

[0104] Here, the first target signal refers to the expected value of the first disturbance signal predicted by the system after a preset time period in the future. In the embodiments of this application, it can be understood as the expected displacement disturbance value that the diving bell system will face at a specific future time point, calculated by a prediction algorithm based on the current low-frequency disturbance signal and its changing trend, used to calculate the required air chamber pressure in advance, realize feedforward control, and overcome the inherent response delay of the system.

[0105] This embodiment employs a linear prediction model to predict the change of a first disturbance signal, thereby obtaining a first target signal. This model predicts the disturbance position after a preset time period based on the current disturbance position and the rate of change of the disturbance. The system first acquires the current value of the first disturbance signal using a high-precision displacement sensor. Then, the system calculates the rate of change of the disturbance signal, i.e., the disturbance velocity. Since the disturbance velocity cannot be directly measured in most diving systems, this embodiment uses a differential method to calculate the rate of change of the disturbance. The system saves the disturbance signal values ​​from the most recent sampling periods and calculates the current rate of change of the disturbance by dividing the difference between the current disturbance value and the disturbance value at the previous moment by the sampling period. To reduce the influence of differential noise, the system uses a moving average filtering method to smooth the calculated rate of change.

[0106] During the prediction process, the system selects an appropriate preset duration based on the dynamic characteristics of the actual hydraulic device. This embodiment of the application determines the response time characteristics of the hydraulic system using a system identification method, including valve response delay (typically 0.1-0.2 seconds), hydraulic oil flow delay (typically 0.1-0.3 seconds), and mechanical transmission delay (typically 0.1-0.2 seconds). The system uses the total response delay as a benchmark value for the preset duration and adjusts it appropriately according to the current operating state. Under normal operating conditions, the preset duration is set to 1.0-1.2 times the total response delay; under high-precision operating conditions, the preset duration is set to 0.9-1.0 times the total response delay to balance prediction accuracy and lead time. Typically, the preset duration is set in the range of 0.5-1.5 seconds.

[0107] For example, a linear prediction model is used:

[0108]

[0109] In the formula, x d,target (t+Δt) represents the predicted value of the first disturbance signal at a future time t+Δt; x d (t) represents the disturbance signal at the current moment; Δt represents the rate of change of the current disturbance signal; Δt represents the preset prediction duration.

[0110] If the rate of change of the disturbance signal cannot be directly measured, it can be approximated using differential methods:

[0111]

[0112] In the formula, Δt s The sampling period.

[0113] Step S302: Determine the first target volume based on the first target signal. The first target volume represents the expected discharge volume of the first hydraulic device after a preset time.

[0114] In a heave compensation system, disturbance signals are converted into changes in discharge volume via hydraulic transmission, which in turn affect the air chamber pressure and compensation force. Accurately predicting future changes in discharge volume allows the system to adjust the air chamber pressure in advance, overcoming the inherent dynamic response lag of hydraulic systems and achieving more precise feedforward compensation.

[0115] The first target volume refers to the expected change in the hydraulic device's discharge volume calculated based on predicted future disturbance signals. In this embodiment, it can be understood that the system calculates the amount of oil discharged or drawn into the hydraulic cylinder after a preset time based on the predicted future disturbance location and the structural parameters of the hydraulic device. This calculation is then used to subsequently calculate the target air chamber pressure, thereby achieving feedforward active compensation control.

[0116] The system first determines the key parameters of the hydraulic device, especially the effective piston area. The effective piston area of ​​a large hydraulic cylinder is calibrated using pressure and displacement sensors, taking into account factors such as piston rod area and changes in sealing friction, to obtain an accurate effective area value. Then, the system multiplies the first target signal (the predicted future disturbance position) by the effective piston area to calculate the first target volume, i.e., the expected change in discharge volume.

[0117] For example, the target volume change at future times is calculated based on the target perturbation signal predicted above:

[0118] ΔV tar (t+Δt)=A·x d,tar (t+Δt);

[0119] In the formula, ΔV tar (t+Δt) represents the predicted change in discharge volume at future times, x d,tar (t+Δt) represents the predicted disturbance signal value at a future time.

[0120] Step S303: Determine the target air chamber pressure based on the first target volume.

[0121] For example, the gas state equation is used to determine the target gas chamber pressure:

[0122]

[0123] Based on the above embodiments, as an optional embodiment, in step S103: determining the second compensation value based on the second disturbance signal. Specifically, this may further include the following steps:

[0124] Step S401: Determine the disturbance error based on the second disturbance signal. The disturbance error characterizes the difference between the current high-frequency disturbance displacement of the submersible system and the ideal disturbance state.

[0125] The disturbance error refers to the deviation between the actual high-frequency disturbance displacement experienced by the diving system and the ideal operating state of the system. In the embodiments of this application, it can be understood as the difference between the actual vertical displacement generated by the diving bell under the action of high-frequency waves and the ideal zero displacement state. This error directly reflects the amount of disturbance that needs to be compensated and is the basic parameter for calculating the second compensation value.

[0126] This application's embodiments first clearly define the ideal disturbance state of the system. Under ideal operating conditions, the diving bell should maintain a stable position, unaffected by high-frequency disturbances; therefore, the ideal disturbance state is defined as zero disturbance. Based on this definition, the system will actively compensate through a second hydraulic device to make the actual position of the diving bell as close as possible to this ideal state. In this way, the system can clearly define the target and direction of compensation, providing a clear reference benchmark for subsequent control algorithms.

[0127] After determining the ideal state, the system calculates the disturbance error in real time. The calculation method used in this embodiment is to subtract the actual disturbance value from the ideal state value; that is, the disturbance error equals zero minus the value of the second disturbance signal. This calculation method results in a negative error value when the diving bell is subjected to an upward high-frequency disturbance, and a positive error value when subjected to a downward disturbance. This definition method is consistent with the error calculation of conventional control systems, facilitating the standard implementation of subsequent PID controllers.

[0128] For example, ideally, the system has no high-frequency disturbances, that is, the ideal state is zero disturbance: x h,ideal (t) = 0; let the proportional gain of the controller be K. p Integral gain K i Differential gain K d .

[0129] The disturbance error is defined as the difference between the actual high-frequency disturbance signal and the ideal disturbance state:

[0130] e h (t)=x h,ideal (t)-x h (t)=-x h (t);

[0131] That is, when the actual disturbance is positive, the error is negative, and the control system will generate reverse compensation; when the actual disturbance is negative, the error is positive, and the reverse compensation will be generated in the same way.

[0132] Step S402: Determine a second compensation value based on the disturbance error. The second compensation value is used to adjust the proportional valve of the second hydraulic device.

[0133] Specifically, the embodiments of this application employ a classic PID control algorithm to determine the second compensation value. In high-frequency disturbance compensation applications, the proportional term directly generates compensation based on the magnitude of the current disturbance error, ensuring the system's immediate response to the current disturbance; the integral term accumulates historical errors to eliminate long-standing deviations and static errors, ensuring the system's stability under continuous disturbances; the derivative term is sensitive to the rate of change of the error, enabling it to predict disturbance trends and generate compensation in advance, significantly improving the system's dynamic response capability, and is particularly suitable for dealing with rapidly changing high-frequency disturbances.

[0134] To implement the control algorithm, the system first performs control parameter optimization. The proportional gain, integral gain, and derivative gain of the controller are determined to be optimal through system identification and sea trial adjustments. In typical applications, the system employs an adaptive parameter adjustment strategy, dynamically adjusting the control parameters based on the current sea state and disturbance characteristics. When disturbances are severe, the proportional and derivative gains are increased to improve response speed, while when disturbances are stable, the integral gain is increased to improve steady-state accuracy.

[0135] Considering the implementation characteristics of computer control systems, this embodiment discretizes the continuous-time PID control algorithm. The system sets an appropriate sampling period, calculates the current disturbance error at each sampling moment, and approximates the integral and derivative terms using numerical integration and numerical differentiation methods, respectively. The integral term accumulates historical errors using trapezoidal integration or rectangular integration methods, while the derivative term calculates the error change rate using backward differencing. To prevent integral saturation, the system implements an integral limiting mechanism; to reduce derivative noise, the system uses low-pass filtering to process the derivative signal.

[0136] After calculating the second compensation value, the system converts it into a control signal for the proportional valve of the second hydraulic device through signal mapping. As a precise oil flow control device, the proportional valve's opening directly determines the operating speed and force of the miniature hydraulic cylinder. The system establishes a linear mapping relationship between the compensation value and the valve opening, sets the valve midpoint as the zero-compensation reference position, and then linearly adjusts the direction and magnitude of the valve opening deviation from the midpoint based on the sign and magnitude of the compensation value.

[0137] For example, a PID control algorithm is used to determine the second compensation value.

[0138]

[0139] Among them, the proportional term K p ·e h (t) is used to compensate based on the current error magnitude; integral term

[0140] Used to eliminate errors accumulated over a long period; differential term Used to improve rapid response capabilities when sensitive to error rate of change.

[0141] To facilitate implementation with a digital controller, this control algorithm is discretized as follows:

[0142] Let the sampling period be Δt, and the k-th sampling time be t. k ;

[0143] The current error is: e h [k] = -x h [k];

[0144] Discrete approximation of the integral term:

[0145] Discrete approximation of the differential term:

[0146] The second compensation value in discrete-time form is:

[0147]

[0148] Furthermore, the relationship between the proportional valve opening of the second hydraulic device and the second compensation value can be expressed as: V valve (t)=V0+K v ·u2(t).

[0149] In the formula, V valve (t) is the control signal for the proportional valve; V0 is the neutral (zero) control signal for the proportional valve; K v The gain is controlled by a proportional valve.

[0150] Based on the above embodiments, after determining the second compensation value based on the second disturbance signal in step S103, the following steps may also be included:

[0151] Step S501: Predict the change value of the second disturbance signal after a preset time period to obtain the second target signal.

[0152] Specifically, in the high-frequency disturbance compensation process, even with a high-response secondary hydraulic device, an unavoidable time delay exists between the detection of the disturbance and the generation of effective compensation force. This delay stems from multiple factors, including signal acquisition and processing delays, control algorithm calculation time, hydraulic valve response delays, and hydraulic oil flow delays. Under high-frequency disturbance conditions, these accumulated delays can cause the compensation action to consistently lag behind the disturbance changes, significantly reducing the compensation effect. This system response lag problem is particularly pronounced for high-frequency disturbances with short periods and rapid changes.

[0153] To address the aforementioned issues, this application introduces a feedforward prediction mechanism. By analyzing the current location and trend of high-frequency disturbances, the mechanism predicts the disturbance state at a specific future moment, enabling the system to prepare compensation actions in advance. This achieves "pre-compensation" rather than "post-compensation," effectively overcoming the impact of system response delay.

[0154] The second target signal refers to the expected value of the high-frequency disturbance signal at a future moment calculated by the system through a prediction algorithm. In this embodiment, it can be understood as the predicted value of the high-frequency disturbance displacement that the diving system will face after a preset time, used to prepare compensation actions in advance, overcome the inherent response delay of the system, and achieve more accurate feedforward control.

[0155] Specifically, the system first acquires the current high-frequency disturbance signal value using a high-precision displacement sensor, and then calculates the rate of change of the disturbance signal. Since the rate of change of the disturbance cannot be directly measured in most cases, the system uses a differential approximation method to estimate the rate of change, that is, subtracting the previous sample value from the current sample value and then dividing by the sampling time interval.

[0156] The system determines an appropriate prediction duration based on the dynamic response characteristics of the second hydraulic unit. The response delays of each component of the hydraulic system are measured using a system identification method, including sensor delay, signal processing delay, control calculation delay, valve response delay, and mechanical transmission delay. The system uses the total response delay as the basis for the preset duration and dynamically adjusts it according to current sea conditions and operational requirements. Under normal operating conditions, the preset duration is generally set to 1.0-1.2 times the total system response delay; in critical operational phases requiring high precision, the preset duration can be appropriately reduced to balance prediction accuracy and lead time.

[0157] For example, a linear feedforward prediction model is used:

[0158]

[0159] In the formula, x h,tar (t+Δt) represents the second target signal at the predicted time; x h (t) represents the current disturbance signal; Δt represents the rate of change of the current disturbance signal; Δt represents the prediction duration.

[0160] If the rate of change of the disturbance signal is not directly measured, a difference approximation can be used:

[0161]

[0162] In the formula, Δt s The sampling period.

[0163] Step S502: Obtain a second correction value based on the second target signal, and adjust the second compensation value using the second correction value.

[0164] Specifically, the system first calculates the difference between the second target signal and the current disturbance signal, which represents the amount of change in the disturbance during the prediction period. This change reveals whether the disturbance is strengthening or weakening, and whether it is changing upwards or downwards. The system multiplies this change by a negative prediction correction control weight to obtain a second correction value. The introduction of the negative sign ensures that the correction action is opposite to the direction of the predicted disturbance change, forming a cancellation effect; while the weight coefficient adjusts the strength of the feedforward compensation, allowing the system to flexibly adjust the degree of influence of the prediction compensation according to actual needs.

[0165] Optionally, embodiments of this application determine the optimal weight values ​​through system identification and sea trial optimization. In practical applications, the system dynamically adjusts the weight values ​​based on the current sea state and disturbance characteristics: when the sea state is complex and the disturbance changes rapidly but relatively regularly, the weight values ​​are increased to enhance the prediction compensation effect; when the sea state is stable or the disturbance is irregular and difficult to predict, the weight values ​​are decreased to reduce the negative impact of prediction errors. This adaptive adjustment mechanism enables the system to maintain optimal performance under various operating environments.

[0166] After obtaining the second correction value, the system adds it to the basic second compensation value calculated in step S402 to generate the final corrected second compensation value. The PID controller ensures the system's accurate response to current disturbances and long-term stability, while the predictive correction provides forward-looking compensation to offset the adverse effects of the system's inherent delay. The final corrected second compensation value is directly used to adjust the proportional valve of the second hydraulic device, driving the micro hydraulic cylinder to perform precise high-frequency disturbance compensation actions.

[0167] For example, the second correction value is defined as a function of the change between the current disturbance signal and the predicted disturbance signal to achieve a fast feedforward response. The specific formula can be expressed as follows:

[0168] u 2,c (t)=-α·(x h,target (t+Δt)-x h (t));

[0169] In the formula, u 2,c (t) represents the second correction value; α represents the prediction correction control weight;

[0170] The second compensation value is then added to the predicted correction value to obtain the final corrected second compensation value:

[0171] u 2,f (t)=u2(t)+u 2,c (t).

[0172] Step S104: Generate a compensation control signal based on the first compensation value and the second compensation value, and send the compensation control signal to the hydraulic device. The hydraulic device includes a first hydraulic device and at least one second hydraulic device. The kinetic energy provided by the first hydraulic device to the diving system is greater than the kinetic energy provided by the second hydraulic device to the diving system. At least one hydraulic device is connected in parallel to the first hydraulic device.

[0173] Specifically, the disturbance signal exhibits a superposition of two typical modes: low-frequency high-amplitude and high-frequency low-amplitude. These two disturbances with different frequency characteristics have different sources and influencing mechanisms, and their requirements for the response speed and accuracy of the compensation system also differ significantly. Low-frequency disturbances typically require large-scale displacement compensation and significant compensation force, while high-frequency disturbances require rapid response and precise control. A single type of hydraulic device cannot simultaneously meet these two drastically different needs. Therefore, this application's embodiment employs a parallel design of two hydraulic devices, achieving efficient compensation for the composite disturbance through a division of labor and cooperation.

[0174] The first hydraulic device in this embodiment mainly includes components such as a large main hydraulic cylinder, a gas-liquid accumulator, and a venting valve, used to respond to low-frequency, high-amplitude disturbances. This device has a large piston area and stroke range, capable of generating significant compensation force and displacement. However, due to its large mechanical inertia and hydraulic pipeline volume, its response speed is relatively slow, making it difficult to effectively cope with high-frequency disturbances. The second hydraulic device, on the other hand, employs a servo motor-driven miniature hydraulic cylinder design, equipped with a high-precision proportional valve and a short hydraulic circuit. Although its output force and stroke are limited, it provides extremely high response speed and control accuracy, specifically designed to handle high-frequency, low-amplitude disturbances. The two devices are connected in parallel, and their compensation effects are superimposed on the diving bell's position control, forming a composite compensation system capable of handling disturbances across the entire frequency band.

[0175] In generating the compensation control signal, this embodiment employs an energy-weighted fusion method to dynamically adjust the weights of the two compensations based on the energy distribution of low-frequency and high-frequency disturbances in the current sea state. The system first multiplies the first compensation value by a first weighting coefficient to obtain a first weighted compensation value, and then multiplies the second compensation value by a second weighting coefficient to obtain a second weighted compensation value. Finally, the two weighted compensation values ​​are added together to generate the final compensation control signal. The aforementioned weighting coefficients are positively correlated with the frequency band energy of the corresponding disturbance signal; that is, when low-frequency disturbances dominate, the first weighting coefficient increases; when high-frequency disturbances are significant, the second weighting coefficient increases. This dynamic weight allocation mechanism enables the system to adaptively adjust the compensation strategy according to real-time sea state, maintaining optimal performance under different operating conditions.

[0176] After generating the compensation control signal, the system converts it into a control electrical signal suitable for the actuators of each hydraulic device through a dedicated signal conditioning circuit. For the first hydraulic device, the control signal adjusts the opening of the vent valve, thereby controlling the air chamber pressure and the compensation force provided by the main hydraulic cylinder. For the second hydraulic device, the control signal drives the proportional valve to adjust the oil flow and direction, controlling the movement of the micro hydraulic cylinder. The first hydraulic device undertakes the low-frequency compensation task with a wide range and high load, while the second hydraulic device focuses on fast and precise high-frequency fine-tuning compensation. This cooperative working mode enables the system to achieve high-precision position control while maintaining a wide range of compensation capabilities.

[0177] The process of frequency band energy of the first and second disturbance signals is described below, which may also include the following steps:

[0178] Step S601: Calculate the real-time state value of the diving system based on the motion state signal. The motion state signal includes the vertical displacement, vertical velocity, attitude angular velocity of the diving system, and air chamber pressure of the first power unit. The real-time state value includes displacement state, velocity state, and pressure state.

[0179] Step S602: Input the real-time status value into the spectrum analysis module to calculate the frequency band energy of the first disturbance signal and the second disturbance signal.

[0180] The frequency band energy of the first and second disturbance signals refers to the integral measure of the fluctuation energy of disturbances at different frequencies within their respective frequency bands, reflecting the intensity and activity level of the disturbances within a specific frequency band. In this embodiment, it can be understood as the energy accumulation values ​​of low-frequency and high-frequency disturbances within their respective frequency bands. These energy values ​​directly reflect the degree of impact of different types of disturbances on the submersible system and are used to dynamically adjust the weight allocation of the two compensation mechanisms to ensure that the system can optimize the compensation strategy according to the actual sea conditions.

[0181] This application embodiment deploys various high-precision sensors in key components of the diving system. Vertical displacement signals are acquired using a magnetostrictive displacement sensor installed between the wire rope and pulley system. This sensor possesses high linearity and anti-interference capabilities, providing stable and reliable displacement measurements even in harsh sea conditions. Vertical velocity signals can be obtained through time differentiation of the displacement signal or directly measured using a dedicated velocity sensor. Attitude angular velocity is acquired by microelectromechanical systems (MEMS) gyroscopes installed on the hull and diving bell, used to monitor dynamic attitude changes in the system. The pressure in the air chamber of the first hydraulic device is monitored in real-time by a high-precision pressure sensor at the top of the air chamber; this parameter is crucial for evaluating the working state and compensation capabilities of the hydraulic system.

[0182] The raw signals acquired by the aforementioned sensors are sampled and preprocessed by the data acquisition system, including signal filtering, calibration, and time synchronization, and then organized into a structured state vector. This state vector comprehensively describes the motion state of the diving system at a specific moment, providing fundamental data for subsequent spectrum analysis and energy calculation. It is worth noting that the system employs time synchronization technology to ensure strict alignment of the acquisition times of the data from each sensor, avoiding misjudgments of the state due to time asynchrony.

[0183] For example, the following motion state signals of a diving system acquired in real time from sensors are represented as follows:

[0184] Vertical displacement z(t), vertical velocity v(t), attitude angular velocity ω(t), and pressure p in the air chamber of the first power unit. g (t);

[0185] Calculate the real-time state value vector based on the above signals:

[0186] X(t) = [z(t), v(t), p g (t),ω(t)] T ;

[0187] Spectral analysis is performed on the vertical displacement signal z(t), which is the most critical real-time state value, to calculate the spectrum of the disturbance signal. First, discretization sampling is performed to obtain the discrete signal sequence z[n]:

[0188]

[0189] Perform an FFT transform on the discrete signal sequence z[n] to obtain the spectral sequence Z[k]:

[0190]

[0191] Based on the given frequency range, the filtering window corresponding to the first disturbance signal is defined as follows:

[0192]

[0193] Define the filtering window corresponding to the second disturbance signal as:

[0194]

[0195] The spectra of the two disturbance signals were obtained respectively:

[0196] First disturbance signal spectrum: X d [k]=Z[k]·H d [k];

[0197] Second disturbance signal spectrum: X h [k]=Z[k]·H h [k];

[0198] Perform IFFT on the separated spectra to obtain the first and second time-domain perturbation signals:

[0199] First disturbance signal:

[0200]

[0201] Second disturbance signal:

[0202]

[0203] The energy of a frequency band is defined as the integral of the square of the corresponding spectral modulus over that frequency band.

[0204] in

[0205] High-frequency disturbance band energy:

[0206] in

[0207] Based on the above embodiments, as an optional embodiment, step S104, generating a compensation control signal based on the first compensation value and the second compensation value, may further include the following steps:

[0208] Step S701: Multiply the first compensation value by the first weighting coefficient to obtain the first weighted compensation value.

[0209] Step S702: Multiply the second compensation value by the second weighting coefficient to obtain the second weighted compensation value.

[0210] Step S703: Generate a compensation control signal based on the first weighted compensation value and the second weighted compensation value; wherein, the first weighting coefficient is positively correlated with the frequency band energy of the first disturbance signal, and the second weighting coefficient is positively correlated with the frequency band energy of the second disturbance signal.

[0211] Specifically, since the greater the disturbance energy, the more significant its impact on system stability, a larger compensation weight should be allocated to it. Thus, the first weight coefficient is positively correlated with the frequency band energy of the first disturbance signal, and the second weight coefficient is positively correlated with the frequency band energy of the second disturbance signal. This weight allocation ensures that system resources are prioritized for suppressing the most significant disturbance type, improving compensation efficiency.

[0212] Specifically, the system uses an energy normalization method to calculate the weighting coefficients. The first weighting coefficient equals the energy of the first disturbance signal frequency band divided by the total disturbance energy; the second weighting coefficient equals the energy of the second disturbance signal frequency band divided by the total disturbance energy. This normalization process ensures that the sum of the two weighting coefficients is always 1, maintaining the stability of the total compensation intensity while achieving dynamic allocation of compensation resources. In practical applications, when the sea state is dominated by low-frequency swaying, the proportion of energy in the first disturbance signal frequency band increases, and the first weighting coefficient approaches 1, so the system mainly allocates compensation resources to the first hydraulic device; when the sea state is dominated by high-frequency turbulence, the proportion of energy in the second disturbance signal frequency band increases, and the second weighting coefficient approaches 1, so the system prioritizes ensuring the compensation effect of the second hydraulic device.

[0213] After determining the weighting coefficients, the system multiplies the first compensation value by the first weighting coefficient to obtain the first weighted compensation value; it then multiplies the second compensation value by the second weighting coefficient to obtain the second weighted compensation value. This weighting process ensures that the compensation intensity is proportional to the disturbance intensity. Subsequently, the system adds the first weighted compensation value and the second weighted compensation value to generate the final compensation control signal.

[0214] For example, the weighting coefficients are determined using an energy normalization method:

[0215]

[0216] Among them, w d (t)+w h(t) = 1;

[0217] Figure 2 This schematic diagram illustrates a structural block diagram of a diving heave compensation system provided in this application, which may include:

[0218] The signal acquisition module is used to acquire motion status signals of the diving system.

[0219] The signal decomposition module is used to obtain a first disturbance signal and a second disturbance signal based on the motion state signal, wherein the frequency of the first disturbance signal is less than the frequency of the second disturbance signal;

[0220] The compensation determination module is used to determine a first compensation value based on a first disturbance signal and a second compensation value based on a second disturbance signal.

[0221] The signal compensation module is used to generate a compensation control signal based on a first compensation value and a second compensation value, and to send the compensation control signal to the hydraulic device.

[0222] The hydraulic device includes a first hydraulic device and at least one second hydraulic device. The first hydraulic device provides greater kinetic energy to the diving system than the second hydraulic device provides to the diving system. At least one hydraulic device is connected in parallel to the first hydraulic device.

[0223] Based on the above embodiments, as an optional embodiment, the compensation determination module is further configured to determine the change in the discharge volume of the first hydraulic device based on the first disturbance signal; determine the current air chamber pressure of the first hydraulic device based on the change in discharge volume; and determine a first compensation value based on the current air chamber pressure and the target air chamber pressure, wherein the target air chamber pressure is negatively correlated with the first disturbance, and the first compensation value is used to adjust the opening of the vent valve in the first hydraulic device.

[0224] Based on the above embodiments, as an optional embodiment, the compensation determination module is further configured to predict the change value of the first disturbance signal within a preset time period to obtain a first target signal; determine a first target volume based on the first target signal, wherein the first target volume characterizes the expected discharge volume of the first hydraulic device after the preset time period; and determine the target air chamber pressure based on the first target volume.

[0225] Based on the above embodiments, as an optional embodiment, the compensation determination module is further configured to determine a disturbance error based on a second disturbance signal, wherein the disturbance error characterizes the difference between the current high-frequency disturbance displacement of the diving system and the ideal disturbance state; and to determine a second compensation value based on the disturbance error, wherein the second compensation value is used to adjust the proportional valve of the second hydraulic device.

[0226] Based on the above embodiments, as an optional embodiment, the compensation determination module is further configured to predict the change value of the second disturbance signal after a preset time to obtain the second target signal; obtain a second correction value based on the second target signal, and adjust the second compensation value with the second correction value.

[0227] Based on the above embodiments, as an optional embodiment, the signal compensation module is further configured to multiply the first compensation value by a first weighting coefficient to obtain a first weighted compensation value; multiply the second compensation value by a second weighting coefficient to obtain a second weighted compensation value; and generate a compensation control signal based on the first weighted compensation value and the second weighted compensation value; wherein the first weighting coefficient is positively correlated with the frequency band energy of the first disturbance signal, and the second weighting coefficient is positively correlated with the frequency band energy of the second disturbance signal.

[0228] Based on the above embodiments, as an optional embodiment, the heave compensation system for diving also includes a spectrum compensation module, which is used to calculate the real-time state value of the diving system based on motion state signals. The motion state signals include the vertical displacement, vertical velocity, attitude angular velocity and air chamber pressure of the diving system, and the real-time state value includes displacement state, velocity state and pressure state. The real-time state value is input to the spectrum analysis module to calculate the frequency band energy of the first disturbance signal and the second disturbance signal.

[0229] It should be noted that the diving heave compensation system part in the embodiments of this application corresponds to the diving heave compensation method part in the embodiments of this application. For a detailed description of the diving heave compensation system part, please refer to the diving heave compensation method part, which will not be repeated here.

[0230] Figure 3 The diagram illustrates a structural block diagram of an electronic device suitable for implementing the methods described above, according to an embodiment of this application. Figure 3 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0231] like Figure 3 As shown, an electronic device 300 according to an embodiment of this application includes a processor 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage portion 308 into a random access memory (RAM) 303. The processor 301 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 301 may also include onboard memory for caching purposes. The processor 301 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this application.

[0232] RAM 303 stores various programs and data required for the operation of electronic device 300. Processor 301, ROM 302, and RAM 303 are interconnected via bus 304. Processor 301 executes various operations of the method flow according to embodiments of this application by executing programs in ROM 302 and / or RAM 303. It should be noted that the programs may also be stored in one or more memories other than ROM 302 and RAM 303. Processor 301 may also execute various operations of the method flow according to embodiments of this application by executing programs stored in said one or more memories.

[0233] According to embodiments of this application, the electronic device 300 may further include an input / output (I / O) interface 305, which is also connected to a bus 304. The system 300 may also include one or more of the following components connected to the input / output (I / O) interface 305: an input section 306 including a keyboard, mouse, etc.; an output section 307 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the input / output (I / O) interface 305 as needed. A removable medium 311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 310 as needed so that computer programs read from it can be installed into the storage section 308 as needed.

[0234] According to embodiments of this application, the method flow according to embodiments of this application can be implemented as a computer software program. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 309, and / or installed from removable medium 311. When the computer program is executed by processor 301, it performs the functions defined in the system of embodiments of this application. According to embodiments of this application, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0235] This application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of this application.

[0236] According to embodiments of this application, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0237] For example, according to embodiments of this application, a computer-readable storage medium may include the ROM 302 and / or RAM 303 described above and / or one or more memories other than ROM 302 and RAM 303.

[0238] Embodiments of this application also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this application. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the methods provided in the embodiments of this application.

[0239] When the computer program is executed by the processor 301, it performs the functions defined in the system / apparatus of this application embodiment. According to the embodiments of this application, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0240] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via communication section 309, and / or installed from removable medium 311. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0241] According to embodiments of this application, program code for executing the computer programs provided in the embodiments of this application can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0242] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features recited in the various embodiments and / or claims of this application can be combined and / or combined in various ways, even if such combinations or combinations are not expressly stated in this application. In particular, the various embodiments and / or features described in the claims of this application may be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0243] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this application is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this application, and all such substitutions and modifications should fall within the scope of this application.

[0244] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this application is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this application, and all such substitutions and modifications should fall within the scope of this application.

Claims

1. A method for compensating heave for diving, comprising: Obtain motion status signals from the diving system; A first disturbance signal and a second disturbance signal are obtained based on the motion state signal, wherein the frequency of the first disturbance signal is less than the frequency of the second disturbance signal; A first compensation value is determined based on the first disturbance signal, and a second compensation value is determined based on the second disturbance signal. A compensation control signal is generated based on the first compensation value and the second compensation value, and the compensation control signal is sent to the hydraulic device; The hydraulic device includes a first hydraulic device and at least one second hydraulic device. The first hydraulic device provides greater kinetic energy to the diving system than the second hydraulic device provides to the diving system. The at least one second hydraulic device is connected in parallel to the first hydraulic device. The diving system is connected to the hydraulic device via a steel wire rope. The step of determining the first compensation value based on the first disturbance signal includes: The change in discharge volume of the first hydraulic device is determined based on the first disturbance signal; the change in discharge volume refers to the amount of oil volume transferred due to the displacement of the hydraulic piston in the first hydraulic device under low-frequency disturbance. The current air chamber pressure of the first hydraulic device is determined based on the change in the discharged fluid volume. A first compensation value is determined based on the current air chamber pressure and the target air chamber pressure. The target air chamber pressure is negatively correlated with the first disturbance signal. The first compensation value is used to adjust the opening of the vent valve in the first hydraulic device to achieve precise adjustment of the current air chamber pressure. The current air chamber pressure refers to the real-time pressure value of the gas in the air chamber of the gas-liquid energy storage device in the first hydraulic device. The step of determining the second compensation value based on the second disturbance signal includes: The disturbance error is determined based on the second disturbance signal, and the disturbance error characterizes the difference between the current high-frequency disturbance displacement of the diving system and the ideal disturbance state; A second compensation value is determined based on the disturbance error. The second compensation value is used to adjust the proportional valve of the second hydraulic device to drive the micro hydraulic cylinder to perform precise high-frequency disturbance compensation action.

2. The method according to claim 1, further comprising, before determining the first compensation value based on the first disturbance signal: The first target signal is obtained by predicting the change value of the first disturbance signal within a preset time period; A first target volume is determined based on the first target signal, and the first target volume represents the expected discharge volume of the first hydraulic device after a preset time. The target air chamber pressure is determined based on the first target volume.

3. The method according to claim 1, further comprising, after determining the second compensation value based on the second disturbance signal: The second target signal is obtained by predicting the change value of the second disturbance signal after a preset time period; A second correction value is obtained based on the second target signal, and the second compensation value is adjusted using the second correction value.

4. The method according to claim 1, wherein generating the compensation control signal based on the first compensation value and the second compensation value comprises: The first compensation value is multiplied by the first weighting coefficient to obtain the first weighted compensation value; Multiply the second compensation value by the second weighting coefficient to obtain the second weighted compensation value; A compensation control signal is generated based on the first weighted compensation value and the second weighted compensation value; The first weighting coefficient is positively correlated with the frequency band energy of the first disturbance signal, and the second weighting coefficient is positively correlated with the frequency band energy of the second disturbance signal.

5. The method according to claim 4, wherein after obtaining the motion state signal of the diving system, the method further includes: The real-time status value of the diving system is calculated based on the motion state signal. The motion state signal includes the vertical displacement, vertical velocity, attitude angular velocity of the diving system, and the current air chamber pressure of the first hydraulic device. The real-time status value includes displacement state, velocity state, and pressure state. The real-time status value is input to the spectrum analysis module to calculate the frequency band energy of the first disturbance signal and the second disturbance signal.

6. A diving heave compensation system for implementing the diving heave compensation method as described in any one of claims 1-5, comprising: The signal acquisition module is used to acquire motion status signals of the diving system. The signal decomposition module is used to obtain a first disturbance signal and a second disturbance signal based on the motion state signal, wherein the frequency of the first disturbance signal is less than the frequency of the second disturbance signal; The compensation determination module is used to determine a first compensation value based on the first disturbance signal and a second compensation value based on the second disturbance signal. The signal compensation module is used to generate a compensation control signal based on the first compensation value and the second compensation value, and send the compensation control signal to the hydraulic device; The hydraulic device includes a first hydraulic device and at least one second hydraulic device. The first hydraulic device provides greater kinetic energy to the diving system than the second hydraulic device provides to the diving system. The at least one second hydraulic device is connected in parallel to the first hydraulic device.

7. An electronic device, comprising: One or more processors; Memory, used to store one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1 to 5.

8. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 5.

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