控制理论(社会学)
反推
级联
非线性系统
工程类
补偿(心理学)
控制器(灌溉)
阻力
流离失所(心理学)
控制工程
自适应控制
计算机科学
控制(管理)
物理
量子力学
人工智能
化学工程
生物
航空航天工程
心理学
农学
精神分析
心理治疗师
作者
Jianan Xu,Yiming Wang,Jian Ma,Yulin Zhan
摘要
During the rough marine environment, heave compensation is used to offset the heave motion of the vessel when a marine crane lifts and lands the load. Thus, load motion and vessel motion are realized decoupled. In previous studies, the interference items such as hydraulic cylinder friction, underwater drag force and nonlinear friction in the active heave compensation system of a marine hydraulic crane are compensated as a concentrated interference force to be estimated. In this paper, we disassembled the interference items; the disturbance observer and adaptive rate are designed to estimate unmodeled disturbance force and system uncertain parameters, respectively; and we designed an active heave compensator with the adaptive nonlinear cascade controller which has the disturbance observer (DOB-ANCC). For the heave compensation of load displacement, this paper derived the control law of the nonlinear system model based on the backstepping method. The outer loop control is displacement control and the inner loop control is pressure control. The simulation verifies the effectiveness of the control strategy proposed in this paper and the availability of heave displacement compensation for a marine crane hoisting load. The compensation efficiency of the designed controller (DOB-ANCC) for the heave motion of the load can reach more than 95%, and the maximum displacement tracking error of the controller can reach ± 0.035 m.
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