Cascade Control of Active Heave Compensation Nonlinear System for Marine Crane

Author:

Xu Jianan1,Wang Yiming1,Ma Junling1,Zhan Yong1

Affiliation:

1. College of Mechanical & Electrical Engineering, Harbin Engineering University, Harbin 150001, China

Abstract

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.

Funder

Fundamental Research Funds for the Central Universities

Foundation Strengthening Plan Technology Field Fund Project

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

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