Wave-compensating controller, control method and wave-compensating device

Abstract

The application mainly relates to the technical field of ocean engineering equipment control, in particular to a wave compensation controller, a control method and a wave compensation device. The application provides a wave compensation controller for outputting a compensation control instruction to a wave compensation actuator, comprising: a parallel acquisition detection unit for generating multi-channel synchronous acquisition data; a processing control unit for generating a compensation control instruction; a communication interface connected with the processing control unit for sending the compensation control instruction to an actuator control module of the wave compensation actuator; wherein the parallel acquisition detection unit is also used for acquiring a state feedback signal of the wave compensation actuator after executing the compensation control instruction, so as to update the compensation control instruction of the next control cycle by the processing control unit, and realize end-to-end real-time response from data acquisition to action execution.

Description

Technical Field

[0001] This application mainly relates to the field of marine engineering equipment control technology, specifically to a wave compensation controller, control method, and wave compensation device. Background Technology

[0002] Wave compensation equipment plays an irreplaceable role in the field of marine engineering, serving as a key component to ensure the safety and efficiency of offshore operations. With the continuous growth in global demand for marine resources and energy supply, the stable operation capability of marine engineering equipment in complex sea conditions is receiving increasing attention. Wave compensation technology, by actively suppressing the impact of waves on the hull and operating equipment, can significantly improve the operational stability and reliability of marine engineering equipment, thereby providing crucial support for strategic energy tasks such as offshore oil and gas resource development and offshore wind power construction. Simultaneously, this technology also holds significant strategic importance for safeguarding my country's maritime rights and interests and enhancing its overall competitiveness in the maritime domain.

[0003] As the core control component of wave compensation equipment, the development of wave compensation controllers involves cutting-edge interdisciplinary fields such as sensor technology, signal processing, and real-time control algorithms, directly determining the compensation accuracy and dynamic response capability of the equipment. Currently, the key technologies for high-performance wave compensation controllers are mainly controlled by a few foreign manufacturers, severely restricting the independent and controllable development of my country's marine engineering equipment. If independent development of controllers cannot be achieved, the overall performance, reliability, and upgrade potential of wave compensation equipment will be subject to external control, thus affecting the integrity and international competitiveness of my country's marine engineering industry chain.

[0004] Existing wave compensation control systems typically employ a motion reference unit and multiple sensors to collaboratively acquire ship motion signals, with reverse compensation achieved by a control-driven actuator, theoretically achieving high control accuracy. However, significant technical shortcomings are prevalent in practical applications: at the signal acquisition level, existing systems mostly employ a serial acquisition architecture, unable to simultaneously acquire signals from multiple types of sensors; at the signal processing level, the controller's processing speed is insufficient, resulting in significant time lag. When sea conditions are severe, wave periods are short, and amplitudes are large, the compensation action struggles to keep pace with the ship's violent movements in real time, leading not only to a significant decrease in compensation accuracy but also potential operational safety hazards. Furthermore, existing systems are complex in structure, expensive, and have low compensation accuracy, and also lack adaptability and shock resistance, failing to meet the generalization requirements of diverse marine engineering equipment.

[0005] In view of the shortcomings of the existing technology, there is an urgent need in the field for a wave compensation controller that can achieve high-speed processing, so as to fundamentally solve the core pain points of asynchronous signal acquisition and large processing delay. Summary of the Invention

[0006] This application provides a wave compensation controller, control method, and wave compensation device, which solves the technical problems of asynchronous acquisition of multi-source sensor signals, insufficient data processing speed, large control link time delay, and untimely compensation response under short-period, large-amplitude wave conditions in existing wave compensation control systems.

[0007] This application proposes a wave compensation controller to solve the above-mentioned technical problems, used to output compensation control commands to a wave compensation actuator, including: The parallel acquisition and detection unit is used to acquire hull motion signals and wave compensation actuator status signals in parallel under the same synchronous triggering reference, and generate multi-channel synchronous acquisition data; The processing and control unit is connected to the parallel acquisition and detection unit and is used to determine the hull motion state, the load state, and the wave compensation actuator state based on the multi-channel synchronous acquisition data, and to generate compensation control commands. A communication interface, connected to the processing control unit, is used to send the compensation control command to the actuator control module of the wave compensation actuator; The parallel acquisition and detection unit is also used to acquire the status feedback signal after the wave compensation actuator executes the compensation control command, so that the processing and control unit can update the compensation control command for the next control cycle.

[0008] In one embodiment of this application, the parallel acquisition and detection unit includes a sensor interface layer, an FPGA parallel acquisition core layer, and a data transmission layer connected in sequence. The sensor interface layer is used to receive signals from multiple sources of sensors and perform interface adaptation and standardization processing on the signals from multiple sources of sensors. The FPGA parallel acquisition core layer is used to synchronously trigger, parallel sample, and temporarily store standardized multi-source sensor signals under the same time reference to form multi-channel synchronous acquisition data. The data transmission layer is used to transmit the multi-channel synchronous acquisition data to the processing control unit.

[0009] In one embodiment of this application, the parallel acquisition and detection unit acquires multi-source sensor signals output by the motion reference unit, displacement sensor, pressure sensor, load sensor and speed sensor, and performs anti-interference filtering and temporary storage processing on the multi-source sensor signals to generate multi-channel synchronous acquisition data.

[0010] In one embodiment of this application, the motion reference unit is used to collect at least one of the following hull motion parameters: heave, roll, pitch angle, angular velocity, and acceleration. The displacement sensor is used to collect the position parameters of the hydraulic cylinder and the hook. The pressure sensor is used to collect pressure parameters of the hydraulic system; The load sensor is used to collect parameters such as the weight of the hoisted load or the change in load. The speed sensor is used to collect the motion speed parameters of the wave compensation actuator.

[0011] In one embodiment of this application, the processing control unit is configured to perform parallel analysis, filtering and noise reduction, parameter calibration and data fusion on the multi-channel synchronously acquired data to obtain the hull motion state quantity, the load state quantity and the wave compensation actuator state quantity.

[0012] In one embodiment of this application, the processing control unit is configured to: Frequency domain analysis is performed on the hull motion state quantities to obtain the dominant frequency, amplitude, and phase of wave motion, and the hull motion quantity within a preset time window is predicted based on the dominant frequency, amplitude, and phase. A total system time delay model is established based on the acquisition delay, signal processing delay, bus transmission delay, and response delay of the wave compensation actuator; Based on the hull motion and the total time delay model of the system, the first compensation control sequence for multiple future control cycles is calculated using a model predictive control algorithm, and the first control quantity for the current control cycle is output.

[0013] In one embodiment of this application, the processing control unit further includes: Based on the sea state level, the load status quantity, and the feedback error of the wave compensation actuator, the proportional-integral-derivative control parameters are adaptively adjusted to perform closed-loop correction on the first control quantity, thereby obtaining the compensation control command.

[0014] In one embodiment of this application, the processing control unit includes a multi-core processor: The multi-core processor includes at least four processing cores: The first and second processing cores are used for the analysis, filtering, parameter calibration, and data fusion of the multi-source sensor signals; The third processing core is used for frequency domain analysis, hull motion prediction, model predictive control calculation, and adaptive proportional-integral-derivative control calculation. The fourth processing core is used for message parsing, verification, and instruction transmission.

[0015] In one embodiment of this application, the communication interface sends the compensation control command to the actuator control module of the wave compensation actuator according to the Profinet protocol; The Profinet hardware frame processor of the communication interface is connected to the fourth processing core.

[0016] In one embodiment of this application, the processing control unit is configured to: Kalman filtering is used to suppress gyroscope drift in the moving reference unit, low-pass filtering is used to remove vibration noise, temperature compensation and nonlinearity correction are performed, and redundant sensor data are fused by weighted averaging.

[0017] In one embodiment of this application, the response delay of the wave compensation actuator includes: acquisition delay, signal processing delay, bus transmission delay, hydraulic valve response delay, and hydraulic cylinder or hydraulic motor execution delay.

[0018] In one embodiment of this application, the processing control unit further includes a response triggering module, which comprises a mutation identification submodule, a threshold judgment submodule, an emergency compensation instruction generation submodule, and a safety limiting submodule. The mutation identification submodule is used to monitor at least one of the following: hull heave rate, hull heave acceleration, and wave amplitude change rate. The threshold judgment submodule is used to trigger an emergency compensation mode when the monitored quantity reaches a preset mutation threshold. The emergency compensation command generation submodule is used to shorten the signal filtering and smoothing process in emergency compensation mode, and to generate emergency compensation commands by calling the current hull motion prediction results and model predictive control calculation results. The safety limiting submodule is used to impose boundary constraints on at least one of the valve opening degree, hydraulic cylinder speed, hydraulic motor speed and pump station output pressure corresponding to the emergency compensation command.

[0019] To achieve the above objectives, this application also provides a wave compensation control method, implemented using the wave compensation controller as described above, comprising: Under the same synchronous triggering reference, the ship motion signal and the wave compensation actuator status signal are acquired in parallel to generate multi-channel synchronous acquisition data; Based on the multi-channel synchronously acquired data, the ship motion state, the load state, and the wave compensation actuator state are determined, and compensation control commands are generated. The compensation control command is sent to the actuator control module of the wave compensation actuator; Specifically, the status feedback signal after the wave compensation actuator executes the compensation control command is collected, so as to update the compensation control command for the next control cycle.

[0020] To achieve the above objectives, this application also provides a wave compensation device, comprising: A multi-source sensor, comprising at least one of a motion reference unit, a displacement sensor, a pressure sensor, a load sensor, and a velocity sensor; The wave compensation controller as described above; and An execution unit, the execution unit comprising at least one of a servo valve, a proportional valve, a hydraulic cylinder, a hydraulic motor, a hydraulic pump station, a motor driver, and a wave compensation actuator; The wave compensation controller is connected to the multi-source sensor and the execution unit respectively, and the status signal of the execution unit is fed back to the wave compensation controller to form a wave compensation control closed loop.

[0021] This application provides a wave compensation controller and wave compensation device, which consists of a high-speed parallel acquisition and detection unit, a high-speed processing and control unit, and other components. These units work together to form a complete control link. The high-speed parallel acquisition and detection unit is responsible for the synchronous acquisition of signals from multiple types of sensors, providing a real-time and consistent data foundation for the system. The high-speed processing and control unit is responsible for the rapid analysis of signals and the generation of instructions, ensuring timely decision-making. The entire system uses "high-speed parallel acquisition—high-speed processing—precise compensation" as its closed-loop control core, achieving end-to-end real-time response from data acquisition to action execution. Attached Figure Description

[0022] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 A block diagram of the overall structure of a wave compensation device according to an embodiment of this application is disclosed; Figure 2 A structural block diagram of a wave compensation controller according to an embodiment of this application is disclosed; Figure 3 A schematic diagram of the control algorithm flow of one embodiment of this application is disclosed.

[0023] Explanation of reference numerals in the accompanying drawings for specific embodiments: 100 Wave compensation controller; 110 Parallel acquisition and detection unit; 120 Processing and control unit; 130 Communication interface; 200 multi-source sensors; 210 motion reference units; 220 displacement sensors; 230 pressure sensors; 240 load sensors; 250 speed sensors; 300 Actuator; 310 Proportional Valve; 320 Motor Driver; 330 Hydraulic Cylinder; 340 Hydraulic Motor; 350 Wave Compensation Actuator. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] Furthermore, the terms “up,” “down,” “left,” “right,” “top,” “bottom,” “horizontal,” and “vertical” used in the following description should be understood as the orientations shown in the paragraph and related figures. This relative terminology is for illustrative purposes only and does not imply that the described device must be manufactured or operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0027] It is understood that although terms such as "first," "second," and "third" may be used herein to describe various components, regions, layers, and / or parts, these components, regions, layers, and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers, and / or parts. Therefore, the first component, region, layer, and / or part discussed below may be referred to as the second component, region, layer, and / or part without departing from some embodiments of this application.

[0028] Figure 1 A block diagram of the overall structure of a wave compensation device according to an embodiment of this application is disclosed, as follows: Figure 1 As shown, a wave compensation device may include: a multi-source sensor 200, a wave compensation controller 100, and an execution unit 300.

[0029] The multi-source sensor 200 is used to collect real-time data on the ship's motion status, hoisting status, and hydraulic system operating status. It includes a motion reference unit 210, a displacement sensor 220, a pressure sensor 230, a load sensor 240, and a speed sensor 250. Depending on the specific equipment, one or more types of redundant sensors can be configured.

[0030] The Motion Reference Unit (MRU) 210 is installed at a preset position on the hull, offshore platform, or operating equipment to collect motion parameters such as heave, roll, pitch, angular velocity, and acceleration of the hull.

[0031] The motion reference unit 210 can adopt an integrated structure of gyroscope and accelerometer, with a sampling frequency of not less than 100Hz and a detection accuracy error of ≤±0.01°. It can quickly capture the small motion of the ship caused by short-period waves. The signal output terminal of the motion reference unit 210 is directly connected to the high-speed parallel acquisition module to realize real-time signal uploading.

[0032] The displacement sensor 220 is installed on the wave compensation actuator 350 to collect the piston rod displacement of the hydraulic cylinder 330, the rotation position of the hydraulic motor 340 corresponding to the drum, the hook height, or other parameters that can characterize the movement position of the wave compensation actuator 350.

[0033] Pressure sensor 230 is installed in the hydraulic circuit to collect hydraulic system pressure parameters, namely the pressure in both chambers of hydraulic cylinder 330, the pressure before and after servo valve or proportional valve 310, the pump station outlet pressure, or other hydraulic system operating parameters.

[0034] The load sensor 240 is used to collect parameters of hoisting weight or load change, namely hoisting weight, wire rope tension, hydraulic cylinder 330 load, or the force exerted on the wave compensation actuator 350.

[0035] Speed ​​sensor 250 is used to collect motion speed parameters of wave compensation actuator 350, such as the motion speed of hydraulic cylinder 330, hydraulic motor 340, drum or hook.

[0036] The above signals are acquired by the parallel acquisition and detection unit 110 at the same time reference.

[0037] The wave compensation controller 100 is used to output compensation control commands to the wave compensation actuator, and includes a parallel acquisition and detection unit 110, a processing and control unit 120, and a communication interface 130.

[0038] The processing control unit 120 calculates compensation control commands based on synchronously acquired data and sends them to the actuator control module in the execution unit 300 via the Profinet bus.

[0039] The actuator control module can be a servo valve controller, proportional valve controller, hydraulic pump station controller, motor driver 320, or mechanical compensation mechanism control module. The Profinet commands output by the controller do not directly drive the cylinder or motor body, but are instead used by the actuator control module to regulate hydraulic flow, pressure, speed, displacement, or output force.

[0040] In one embodiment, the parallel acquisition and detection unit is further configured to acquire the status feedback signal after the wave compensation actuator executes the compensation control command, so that the processing control unit can update the compensation control command for the next control cycle.

[0041] After the execution unit completes the compensation action, the generated feedback signals such as displacement, pressure, load, and speed are retransmitted to the parallel acquisition and detection unit 110. The high-speed processing and control unit then corrects the compensation command for the next control cycle based on the feedback results, thus forming a control closed loop of "high-speed parallel acquisition - high-speed processing - high-speed output - execution feedback - closed-loop correction".

[0042] The actuator 300 includes one or more of the following: a servo valve or proportional valve 310, a hydraulic pump station or motor driver 320, a hydraulic cylinder 330, a hydraulic motor 340, and a mechanical wave compensation actuator 350.

[0043] The servo valve or proportional valve 310 adjusts the hydraulic oil flow and pressure according to control commands; the hydraulic cylinder 330 is used to achieve linear displacement compensation; and the hydraulic motor 340 is used to achieve hoisting, slewing, or other rotary motion compensation. The hydraulic pump station and motor driver 320 are used to provide the hydraulic or electrical power required for execution.

[0044] The mechanical wave compensation actuator 350 can act on hooks, booms, winches, A-frame deployment mechanisms, or trestle mechanisms to cause the corresponding work target to displace in the opposite direction to the ship's movement.

[0045] It is important to note that the commands output by the processing control unit via the Profinet bus do not directly drive the hydraulic cylinder or motor body. Instead, they are first transmitted to the actuator control module of the wave compensation actuator, such as servo valve controllers, proportional valve controllers, pump station controllers, motor drivers, or actuator control modules—intermediate execution layers. These lower-level units then precisely adjust the hydraulic flow, pressure, speed, displacement, or output force, ultimately working together to achieve the wave compensation action. This hierarchical architecture ensures the rational allocation of commands and the fine-tuning of execution parameters.

[0046] This invention provides a wave compensation device based on a high-speed parallel sensing acquisition and high-speed processing controller, comprising a high-speed parallel acquisition and detection unit, a high-speed processing and control unit, and an execution unit, with each unit working collaboratively. The high-speed parallel acquisition and detection unit realizes the synchronous acquisition of signals from multiple sensors, and the high-speed processing and control unit completes the rapid analysis of signals and command output, achieving closed-loop control of "high-speed parallel acquisition - high-speed processing - precise compensation".

[0047] The various modules of the wave compensation controller proposed in this application will be described in detail below. It should be understood that, within the scope of this application, the above-mentioned technical features of this application and the technical features specifically described below (such as in the embodiments) can be combined and related to each other to form a preferred technical solution.

[0048] Figure 2A structural block diagram of a wave compensation controller according to an embodiment of this application is disclosed, as follows: Figure 2 As shown, the wave compensation controller 100 includes a parallel acquisition and detection unit 110, a processing and control unit 120, and a communication interface 130.

[0049] The parallel acquisition and detection unit 110 includes an FPGA parallel acquisition module, which is used to acquire hull motion signals and wave compensation actuator status signals in parallel under the same synchronous triggering reference, generating multi-channel synchronous acquisition data. This avoids the problem of acquisition delay accumulation caused by traditional serial acquisition methods, and ensures that signals such as MRU, displacement, pressure, load, and speed are acquired synchronously under the same time reference, providing real-time and accurate input data for subsequent control algorithms.

[0050] In one embodiment, the parallel acquisition and detection unit adopts a hierarchical modular structure, including a sensor interface layer, an FPGA parallel acquisition core layer and a data transmission layer connected in sequence, and can be configured with external SRAM (Static Random Access Memory). Each layer works independently and works in coordination to ensure the high speed, accuracy and reliability of the acquisition process.

[0051] The sensor interface layer is used to receive signals from multiple sources of sensors and perform interface adaptation and standardization processing on the signals from multiple sources of sensors. The FPGA parallel acquisition core layer is used to synchronously trigger, parallel sample, and temporarily store standardized multi-source sensor signals under the same time reference to form multi-channel synchronous acquisition data. The data transmission layer is used to transmit the multi-channel synchronous acquisition data to the processing control unit.

[0052] The sensor interface layer is configured with RS485, CAN, Profinet or other industrial communication interfaces according to the sensor interface, and completes signal conditioning, anti-interference filtering and data format standardization.

[0053] The FPGA (Field Programmable Gate Array) parallel acquisition core layer uses an FPGA with multiple logic resources, such as the Xilinx Artix-7 series FPGA. Internally, the FPGA configures independent and parallel-running receiving logic for different interfaces and sensor channels, using a unified synchronization trigger signal or a unified clock count value as the sampling time base. When the synchronization trigger condition is met, each channel simultaneously latches or reads the corresponding sensor data and writes it to the channel buffer or external SRAM.

[0054] The external SRAM can be a 16 MB SRAM, such as the IS62WV16001B, used to temporarily store acquired data during brief bus occupancy or upper-layer processing task switching. The storage latency of the SRAM can be no greater than 10 ns to support low-latency read and write operations.

[0055] The data transmission layer uses the data from each channel corresponding to the same sampling moment as synchronization data and uploads it to the high-speed processing control unit via a high-speed SPI (Serial Peripheral Interface) channel or other high-speed buses. The high-speed SPI channel is a high-speed, full-duplex, synchronous communication bus with a transmission rate of up to 80 Mbps.

[0056] In one embodiment, the parallel acquisition and detection unit further includes: It acquires multi-source sensor signals from the motion reference unit, displacement sensor, pressure sensor, load sensor, and velocity sensor. The multi-source sensor signals are then subjected to anti-interference filtering and temporary storage processing to generate multi-channel synchronous acquisition data.

[0057] In this embodiment, the parallel acquisition and detection unit 110 simultaneously receives signals output by the motion reference unit 210, displacement sensor 220, pressure sensor 230, load sensor 240 and speed sensor 250, and performs synchronous parallel acquisition according to the same trigger signal.

[0058] The parallel acquisition and detection unit 110 supports synchronous parallel acquisition of at least five sensor signals. The sampling frequency of each channel matches the sensor output frequency and is not lower than 100 Hz, with an acquisition delay of no more than 2 ms and a multi-channel acquisition synchronization error of no more than 0.1 ms. The motion reference unit can adopt an integrated structure of a gyroscope and accelerometer, with a sampling frequency of no less than 100 Hz. The absolute value of the detection error for roll and pitch angles can be no greater than 0.01°, enabling rapid capture of minute hull movements caused by short-period waves. Its signal output is directly connected to the high-speed parallel acquisition module for real-time signal upload. The above parameters are for illustrative purposes only and do not limit all implementation methods.

[0059] The processing and control unit, connected to the parallel acquisition and detection unit, includes a multi-core processor, used to determine the hull motion state, the load state, and the wave compensation actuator state based on the multi-channel synchronously acquired data, and to generate compensation control commands.

[0060] The processing control unit 120 uses a multi-core heterogeneous ARM SoC as the core for signal processing and algorithm calculation. The processor's main frequency can reach 1 GHz, and it is connected to 128 MByte high-speed LPDDR and memory with ECC verification function. It receives multi-channel synchronous data uploaded by the parallel acquisition and detection unit 110, performs state quantity extraction, hull motion prediction, and compensation control quantity calculation, solving the technical problem that traditional controllers cannot quickly process multi-channel synchronous signals. At the same time, it uses digital signal information processing technology to improve the accuracy of signal analysis.

[0061] The high-speed processing control unit is based on a multi-core ARM SoC processor, achieving multi-task parallel processing through core division of labor. The sensing processing core is responsible for the complete link processing of multi-channel sensor signals, including analysis, filtering and noise reduction, parameter calibration, and data fusion. The algorithm decision-making core sequentially executes FFT frequency domain analysis, hull motion prediction, model predictive control (MPC), and adaptive PID adjustment to form a closed-loop control strategy. The communication interaction core focuses on Profinet protocol packet assembly, verification calculation, and high-speed command output to ensure real-time control command delivery. These three cores, each performing its specific function, work together to complete the entire process from signal acquisition to control execution, achieving high-speed parallel signal processing, high-speed adaptive control algorithm calculation, and high-speed command output.

[0062] In one specific implementation, the multi-core processor includes at least four processing cores: The first and second processing cores are used for the analysis, filtering, parameter calibration, and data fusion of the multi-source sensor signals; The third processing core is used for frequency domain (FFT) sea state analysis, ship motion prediction, model predictive control calculation, and adaptive proportional-integral-derivative control calculation. The fourth processing core is used for message parsing, verification, and instruction transmission.

[0063] The model predictive control in this embodiment is based on the state transition model (given the current state, a control can accurately deduce the future state), which derives the state expression for a future time period (in engineering implementation, it is generally represented by error, i.e., the difference between the future state and the target state), and solves the control quantity for the future time period to achieve the goal of being as close as possible to the target state and having the smallest possible control change, while also satisfying the threshold range constraint of the control output.

[0064] In one embodiment, the processing control unit includes: performing parallel analysis, filtering and noise reduction, parameter calibration and data fusion on the multi-channel synchronously acquired data to obtain hull motion state quantities, sling state quantities and wave compensation actuator state quantities.

[0065] The parallel analysis, filtering and noise reduction, parameter calibration, and data fusion of the multi-channel synchronously acquired data include: Kalman filtering is used to suppress gyroscope drift in the moving reference unit, low-pass filtering is used to remove vibration noise, temperature compensation and nonlinearity correction are performed, and redundant sensor data are fused by weighted averaging.

[0066] In this embodiment, the first and second processing cores employ Kalman filtering to suppress gyroscope drift and low-pass filtering to remove structural vibration noise from the motion reference unit data. They can also perform trend compensation for drift caused by salt spray, temperature, or zero-point changes based on long-term trends. Range conversion, zero-point calibration, nonlinearity correction, and temperature compensation are performed on displacement, pressure, load, and velocity data. For redundant sensors, a weighted average method is used for data fusion. After processing, the ship's heave displacement, velocity, acceleration, roll angle, pitch angle, load weight, and actuator position, pressure, and velocity are obtained. Signal processing and fusion can be completed within 3 ms and transmitted to the third processing core via inter-core communication.

[0067] The control commands from the processing control unit are sent to the execution unit via the Profinet bus to coordinate the actions of components such as hydraulic cylinders, hydraulic motors, servo valves, proportional valves, pump stations, or motor drivers, thereby completing the reverse compensation for the effects of heave, roll, pitch, and other motions on the hull.

[0068] In one embodiment, the processing control unit further includes: Frequency domain analysis is performed on the hull motion state quantities to obtain the dominant frequency, amplitude, and phase of wave motion, and the hull motion quantity within a preset time window is predicted based on the dominant frequency, amplitude, and phase. A total system time delay model is established based on the acquisition delay, signal processing delay, bus transmission delay, and response delay of the wave compensation actuator; Based on the hull motion and the total time delay model of the system, the first compensation control sequence for multiple future control cycles is calculated using a model predictive control algorithm, and the first control quantity for the current control cycle is output.

[0069] In one embodiment, the processing control unit further includes: Based on the sea state level, the load status quantity, and the feedback error of the wave compensation actuator, the proportional-integral-derivative control parameters are adaptively adjusted to perform closed-loop correction on the first control quantity, thereby obtaining the compensation control command.

[0070] This invention is based on ship motion data output by a motion reference unit. First, it extracts motion trends and periodic characteristics through spectrum analysis, and then uses high-speed processing capabilities to build an ultra-short-term intelligent prediction model to achieve real-time prediction of ship attitude.

[0071] At the control strategy level, the system adopts a dual guarantee mechanism: on the one hand, it analyzes the time delay characteristics of each compensation mechanism, constructs a model predictive control (MPC) model, and calculates the optimal compensation command in real time; on the other hand, it dynamically adjusts the PID parameters according to load changes and sea state levels, and the two work together to ensure the compensation accuracy under all operating conditions.

[0072] Figure 3 A schematic diagram of the control algorithm flow of an embodiment of this application is disclosed, as follows: Figure 3 As shown, the control algorithm in this embodiment is executed in the following order: "signal fusion - FFT sea state recognition - intelligent prediction of hull motion and MPC advance compensation - adaptive PID shaping output - fast trigger protection - profinet output".

[0073] In step S101, the high-speed parallel acquisition and detection unit synchronously acquires motion reference unit, displacement, pressure, load and velocity signals under a unified time reference, and forms multi-channel synchronous acquisition data.

[0074] The high-speed processing and control unit performs filtering and noise reduction (Kalman filtering to suppress gyroscope drift, low-pass filtering to remove vibration noise, and trend compensation for salt spray drift) on the multi-channel synchronously acquired data, as well as parameter calibration and data fusion (nonlinear correction, temperature compensation, and weighted average fusion of redundant sensors) to obtain the current hull motion state, hoisting state, and compensation mechanism state, such as hull heave displacement, velocity, acceleration, roll angle, pitch angle, and the current position of the compensation mechanism.

[0075] Step S102: Perform FFT frequency domain analysis on the ship motion data output by the motion reference unit to extract the dominant frequency, amplitude and phase of the wave motion under the current sea state.

[0076] In this embodiment, the focus is on extracting the dominant wave frequency within the range of 0.05 Hz to 0.2 Hz. If short-period, large-amplitude waves are identified, the update frequency of the prediction model and compensation algorithm is increased.

[0077] Step S103 involves using the current wave frequency, amplitude, phase, and rate of change, as well as the ship's current heave displacement, velocity, and acceleration, as inputs to the prediction model to predict the ship's motion trend within a very short future time window. The prediction time window of the prediction model is adaptively adjusted based on the current sea state and the time delay characteristics of the actuators.

[0078] Establish a total system delay model for the compensation mechanism. The total system delay includes at least the acquisition delay of the high-speed parallel acquisition and detection unit, the signal processing delay of the high-speed processing control unit, the Profinet bus transmission delay, the response delay of the servo valve or proportional valve, and the execution delay of the hydraulic cylinder or hydraulic motor. All these delays are uniformly incorporated into the total system delay model of the compensation mechanism.

[0079] The MPC algorithm is used to solve for the optimal compensation control sequence for multiple future control cycles based on the predicted hull motion, compensation mechanism state, and system total time delay model. MPC only outputs the first control quantity in the optimal compensation control sequence; in the next control cycle, synchronization data is reacquired and the solution is solved again to achieve rolling optimization control.

[0080] In step S104, based on sea state level, wave amplitude, wave rate of change, load weight, and actuator feedback error, Kp, Ki, and Kd are dynamically adjusted to refine the first control quantity output by the MPC. Thus, the MPC provides a lead compensation amount considering prediction and time delay, and the adaptive PID performs closed-loop correction based on the actual execution error. The PID parameters can be updated within 0.1ms.

[0081] S105. For extreme working conditions such as sudden wave changes, a fast response trigger module can be added to quickly trigger protection.

[0082] When a sudden change in wave amplitude of ≥0.5m / s is detected, the system automatically switches to emergency compensation mode, relying on high-speed processing capabilities to achieve instantaneous output of compensation commands, further improving response speed.

[0083] In one embodiment, the processing control unit further includes a response triggering module, which comprises a mutation identification submodule, a threshold judgment submodule, an emergency compensation instruction generation submodule, and a safety limiting submodule. The mutation identification submodule is used to monitor at least one of the following: hull heave rate, hull heave acceleration, and wave amplitude change rate. The threshold judgment submodule is used to trigger an emergency compensation mode when the monitored quantity reaches a preset mutation threshold. The emergency compensation command generation submodule is used to shorten the signal filtering and smoothing process in emergency compensation mode, and to generate emergency compensation commands by calling the current hull motion prediction results and model predictive control calculation results. The safety limiting submodule is used to impose boundary constraints on at least one of the valve opening, hydraulic cylinder speed, hydraulic motor speed, and pump station output pressure corresponding to the emergency compensation command.

[0084] In this embodiment, the fast response triggering module is integrated into the high-speed processing control unit and consists of four sub-modules working together: a mutation identification sub-module, a threshold judgment sub-module, an emergency compensation instruction generation sub-module, and a safety limiting sub-module.

[0085] In terms of workflow, the mutation identification submodule continuously monitors the ship's heave rate, acceleration, and wave amplitude change rate output by the MRU. Once a wave motion mutation is detected that reaches a preset threshold (e.g., the wave amplitude change rate or the change in heave rate exceeds a set value), the threshold judgment submodule immediately triggers the emergency compensation mode.

[0086] Upon entering emergency compensation mode, the processing control unit proactively shortens the signal filtering and routine smoothing processes, prioritizing the use of the current prediction model and the most recent MPC calculation results to quickly generate compensation commands. Simultaneously, the safety limiting submodule applies boundary constraints to actuator parameters such as valve opening, cylinder speed, motor speed, and pump station output pressure to prevent overshoot or exceeding limits.

[0087] Multiple sub-modules ensure the rapid output of compensation commands in scenarios of sudden wave changes, effectively improving the system's response capability to short-period, large-amplitude waves.

[0088] S106 The fourth processing core of the processing control unit packages and verifies the modified compensation control instructions according to the Profinet protocol, and sends them to the actuator control module via the Profinet hardware frame processor. The instruction output cycle can be 1ms.

[0089] After the actuator operates, the feedback signals such as displacement, pressure, load, and speed re-enter step S101 in the next sampling cycle.

[0090] Based on the signals processed by the high-speed processing control unit and the algorithm calculation results, this invention outputs precise control commands to the execution unit through the Profinet high-speed bus with an output delay of ≤1ms, forming a seamless closed loop of "high-speed acquisition - high-speed processing - high-speed output" to ensure the real-time performance and reliability of the compensation action.

[0091] Back Figure 1 The communication interface 130 is connected to the processing control unit 120 and is used to send the compensation control command to the actuator control module of the wave compensation actuator 350. The communication interface sends the compensation control command to the actuator control module of the wave compensation actuator 350 according to the Profinet protocol; The Profinet hardware frame processor of the communication interface is connected to the fourth processing core.

[0092] The communication interface 130 encodes the compensation control quantity into a control instruction that can be recognized by the execution unit 300.

[0093] The actuator 300 may include a servo valve or proportional valve 310, a hydraulic cylinder 330, a hydraulic motor 340, a hydraulic pump station, a motor driver 320, and a corresponding mechanical compensation mechanism. The servo valve or proportional valve 310 adjusts the hydraulic oil flow and pressure according to the output of the actuator control module; the hydraulic cylinder 330 is used for linear displacement compensation; the hydraulic motor 340 is used for compensation of the hoist, slewing, or other rotating mechanisms; the hydraulic pump station and the motor driver 320 provide power; and the mechanical compensation mechanism acts on the hook, boom, hoist, A-frame deployment system, or trestle mechanism.

[0094] The controller provided by this invention can be used in equipment such as articulated boom wave compensation cranes, telescopic boom wave compensation cranes, A-frame wave compensation deployment systems, wave compensation winches, wave compensation cylinders, and wave compensation trestle bridges. For different equipment, only the interface, sampling channel, and control parameters need to be configured according to the sensor type, actuator dynamic characteristics, rated constraints, and controlled object model, without changing the basic structure of synchronous parallel acquisition, multi-core processing, time delay prediction compensation, and closed-loop feedback.

[0095] The following detailed explanation uses a 450-ton offshore crane as an example.

[0096] This embodiment applies the aforementioned wave compensation controller to a 450-ton offshore crane to counteract the ship's heave and reduce the vertical sway of the hook load. The high-speed parallel acquisition and detection unit utilizes a Xilinx Artix-7 series FPGA, configured with RS485, CAN, and Profinet interfaces, and externally connected to 16 MB of SRAM. Data from the motion reference unit, displacement sensor, pressure sensor, load sensor, and velocity sensor enters the FPGA through their respective interfaces. The FPGA uses a unified trigger signal to complete parallel sampling and temporary storage of multiple data streams, and then transmits the data to the high-speed processing and control unit via a high-speed SPI channel of up to 80 Mbps.

[0097] The high-speed processing control unit employs a quad-core ARM SoC with a main frequency of 1 GHz, externally connected to 128 MByte high-speed LPDDR and memory with ECC verification function. Two processing cores perform multi-channel signal analysis, Kalman filtering, low-pass filtering, trend compensation, temperature compensation, nonlinear correction, and redundant data weighted fusion; the third processing core performs FFT, hull motion prediction, MPC, and adaptive PID calculation within 1 ms; the fourth processing core completes packet assembly and verification according to the Profinet protocol, and outputs instructions to the actuator control module through an independent Profinet hardware frame processor, with an instruction cycle of 1 ms.

[0098] Testing revealed that the total latency of "acquisition-processing-output" in this embodiment is 4.8 ms, the total response time of the device is 22 ms, and the compensation accuracy is ±0.08 mm. Under sea conditions with a significant wave height of 3 m, the sway amplitude of the hook load is no greater than 50 mm, and the synchronization error of the multi-channel signal acquisition is no greater than 0.1 ms. Compared with the existing device replaced by this embodiment, the response speed is improved by 56%, and the compensation accuracy is improved by 80%. The above test results are used to illustrate the operational effect of this specific embodiment and do not constitute a limitation on the scope of protection of this invention.

[0099] The present invention also provides a wave compensation control method, employing the wave compensation controller as described above, comprising: Under the same synchronous triggering reference, the ship motion signal and the wave compensation actuator status signal are acquired in parallel to generate multi-channel synchronous acquisition data; Based on the multi-channel synchronously acquired data, the ship motion state, the load state, and the wave compensation actuator state are determined, and compensation control commands are generated. The compensation control command is sent to the actuator control module of the wave compensation actuator; Specifically, the status feedback signal after the wave compensation actuator executes the compensation control command is collected, so as to update the compensation control command for the next control cycle.

[0100] The wave compensation controller and control method provided by this invention have the following technical effects: (1) By using FPGA to synchronously trigger and parallel sample multiple sensor signals under a unified time reference, the sampling time difference and delay accumulation between channels caused by serial acquisition are avoided, providing time-consistent multidimensional state data for the control algorithm.

[0101] (2) By using a multi-core SoC to perform task division and parallel processing of signal analysis and fusion, compensation algorithm calculation and communication packet assembly, the time for multi-channel data processing and control command output is shortened.

[0102] (3) By identifying the dominant frequency, amplitude and phase of waves and predicting the hull motion through FFT, the controller can calculate the compensation amount based on the hull motion trend in a very short time window in the future, rather than just performing hysteresis correction on the current error.

[0103] (4) By incorporating the acquisition, processing, bus transmission, hydraulic valve response and actuator response into the overall system time delay model and using MPC rolling optimization for advance compensation, the impact of the entire link time delay on the compensation phase and accuracy is reduced.

[0104] (5) The MPC output is corrected by adaptive PID based on sea conditions, load and feedback error, taking into account both predictive compensation capability and stability under actual execution feedback.

[0105] (6) By using rapid response triggering and safety limiting, unnecessary processing wait is reduced and execution boundaries are constrained when wave motion changes abruptly, thereby improving the response capability and execution safety under short-period, large-amplitude wave conditions.

[0106] Those skilled in the art will understand that information, signals, and data can be represented using any of a variety of different techniques and skills. For example, the data, instructions, commands, information, signals, bits, symbols, and chips described throughout the above description can be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, light fields or optical particles, or any combination thereof.

[0107] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps are described above in a generalized manner in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the invention.

[0108] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, it may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0109] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of both. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor such that the processor can read and write information to / from the storage medium. In an alternative, the storage medium may be integrated into the processor. The processor and storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and storage medium may reside as discrete components in the user terminal.

[0110] In one or more exemplary embodiments, the described functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functionality may be stored or transmitted as one or more instructions or code on or through a computer-readable medium. A computer-readable medium includes both computer storage media and communication media, encompassing any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of a medium. As used in this article, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs. Disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of these should also be included within the scope of computer-readable media.

[0111] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0112] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0113] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used to describe embodiments are sometimes modified by the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

Claims

1. A wave compensation controller, characterized in that, Used to output compensation control commands to the wave compensation actuator, including: The parallel acquisition and detection unit is used to acquire hull motion signals and wave compensation actuator status signals in parallel under the same synchronous triggering reference, and generate multi-channel synchronous acquisition data; The processing and control unit is connected to the parallel acquisition and detection unit and is used to determine the hull motion state, the load state, and the wave compensation actuator state based on the multi-channel synchronous acquisition data, and to generate compensation control commands. A communication interface, connected to the processing control unit, is used to send the compensation control command to the actuator control module of the wave compensation actuator; The parallel acquisition and detection unit is also used to acquire the status feedback signal after the wave compensation actuator executes the compensation control command, so that the processing and control unit can update the compensation control command for the next control cycle.

2. The wave compensation controller according to claim 1, characterized in that, The parallel acquisition and detection unit includes a sensor interface layer, an FPGA parallel acquisition core layer, and a data transmission layer connected in sequence. The sensor interface layer is used to receive signals from multiple sources of sensors and perform interface adaptation and standardization processing on the signals from multiple sources of sensors. The FPGA parallel acquisition core layer is used to synchronously trigger, parallel sample, and temporarily store standardized multi-source sensor signals under the same time reference to form multi-channel synchronous acquisition data. The data transmission layer is used to transmit the multi-channel synchronous acquisition data to the processing control unit.

3. The wave compensation controller according to claim 2, characterized in that, The parallel acquisition and detection unit acquires multi-source sensor signals output by the motion reference unit, displacement sensor, pressure sensor, load sensor and speed sensor, and performs anti-interference filtering and temporary storage processing on the multi-source sensor signals to generate multi-channel synchronous acquisition data.

4. The wave compensation controller according to claim 3, characterized in that, The motion reference unit is used to collect at least one of the following hull motion parameters: heave, roll, pitch angle, angular velocity, and acceleration. The displacement sensor is used to collect the position parameters of the hydraulic cylinder and the hook. The pressure sensor is used to collect pressure parameters of the hydraulic system; The load sensor is used to collect parameters such as the weight of the hoisted load or the change in load. The speed sensor is used to collect the motion speed parameters of the wave compensation actuator.

5. The wave compensation controller according to claim 1, characterized in that, The processing and control unit is configured to perform parallel analysis, filtering and noise reduction, parameter calibration and data fusion on the multi-channel synchronously acquired data to obtain the hull motion state quantity, the load state quantity and the wave compensation actuator state quantity.

6. The wave compensation controller according to claim 5, characterized in that, The processing control unit is configured to: Frequency domain analysis is performed on the hull motion state quantities to obtain the dominant frequency, amplitude, and phase of wave motion, and the hull motion quantity within a preset time window is predicted based on the dominant frequency, amplitude, and phase. A total system time delay model is established based on the acquisition delay, signal processing delay, bus transmission delay, and response delay of the wave compensation actuator; Based on the hull motion and the total time delay model of the system, the first compensation control sequence for multiple future control cycles is calculated using a model predictive control algorithm, and the first control quantity for the current control cycle is output.

7. The wave compensation controller according to claim 6, characterized in that, The processing control unit further includes: Based on the sea state level, the load status quantity, and the feedback error of the wave compensation actuator, the proportional-integral-derivative control parameters are adaptively adjusted to perform closed-loop correction on the first control quantity, thereby obtaining the compensation control command.

8. The wave compensation controller according to claim 2, characterized in that, The processing control unit includes a multi-core processor: The multi-core processor includes at least four processing cores: The first and second processing cores are used for the analysis, filtering, parameter calibration, and data fusion of the multi-source sensor signals; The third processing core is used for frequency domain analysis, hull motion prediction, model predictive control calculation, and adaptive proportional-integral-derivative control calculation. The fourth processing core is used for message parsing, verification, and instruction transmission.

9. The wave compensation controller according to claim 8, characterized in that, The communication interface sends the compensation control command to the actuator control module of the wave compensation actuator according to the Profinet protocol; The Profinet hardware frame processor of the communication interface is connected to the fourth processing core.

10. The wave compensation controller according to claim 5, characterized in that, The processing control unit is configured to: Kalman filtering is used to suppress gyroscope drift in the moving reference unit, low-pass filtering is used to remove vibration noise, temperature compensation and nonlinearity correction are performed, and redundant sensor data are fused by weighted averaging.

11. The wave compensation controller according to claim 6, characterized in that, The response delay of the wave compensation actuator includes: acquisition delay, signal processing delay, bus transmission delay, hydraulic valve response delay, and hydraulic cylinder or hydraulic motor execution delay.

12. The wave compensation controller according to claim 1, characterized in that, The processing control unit further includes a response triggering module, which comprises a mutation identification submodule, a threshold judgment submodule, an emergency compensation instruction generation submodule, and a safety limiting submodule. The mutation identification submodule is used to monitor at least one of the following: hull heave rate, hull heave acceleration, and wave amplitude change rate. The threshold judgment submodule is used to trigger an emergency compensation mode when the monitored quantity reaches a preset mutation threshold. The emergency compensation command generation submodule is used to shorten the signal filtering and smoothing process in emergency compensation mode, and to generate emergency compensation commands by calling the current hull motion prediction results and model predictive control calculation results. The safety limiting submodule is used to impose boundary constraints on at least one of the valve opening degree, hydraulic cylinder speed, hydraulic motor speed and pump station output pressure corresponding to the emergency compensation command.

13. A wave compensation control method, characterized in that, Implemented using a wave compensation controller as described in any one of claims 1 to 12, comprising: Under the same synchronous triggering reference, the ship motion signal and the wave compensation actuator status signal are acquired in parallel to generate multi-channel synchronous acquisition data; Based on the multi-channel synchronously acquired data, the ship motion state, the load state, and the wave compensation actuator state are determined, and compensation control commands are generated. The compensation control command is sent to the actuator control module of the wave compensation actuator; Specifically, the status feedback signal after the wave compensation actuator executes the compensation control command is collected, so as to update the compensation control command for the next control cycle.

14. A wave compensation device, characterized in that, include: A multi-source sensor, comprising at least one of a motion reference unit, a displacement sensor, a pressure sensor, a load sensor, and a velocity sensor; The wave compensation controller as described in any one of claims 1 to 12; as well as An execution unit, the execution unit comprising at least one of a servo valve, a proportional valve, a hydraulic cylinder, a hydraulic motor, a hydraulic pump station, a motor driver, and a wave compensation actuator; The wave compensation controller is connected to the multi-source sensor and the execution unit respectively, and the status signal of the execution unit is fed back to the wave compensation controller to form a wave compensation control closed loop.

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