Heave compensation winch disturbance compensation control method

Abstract

The application discloses a heave compensation winch interference compensation control method. The method comprises the following steps: based on the state space model of a heave compensation winch system comprising a heave compensation winch and a pump station, a backstepping controller is established by a backstepping control method; an online parameter estimation module of the hydraulic motor of the heave compensation winch is established, the initial identification parameters of the hydraulic motor and the dynamic regression vector of the hydraulic cylinder are inputted for processing, and the identification parameters of the hydraulic motor are obtained in real time; the identification parameters and the operation parameters of the heave compensation winch are inputted into the backstepping controller, the valve core displacement control instruction of the proportional servo valve of the pump station is outputted after processing, and then the interference compensation control of the heave compensation winch is realized by controlling the pump station. The method can still maintain the high-precision tracking and robust stability control of the heave compensation winch system under the condition of model uncertainty and strong disturbance, and provides support for underwater high-precision operation requirements.

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