The invention discloses an electrically-driven deep sea winch active wave compensation control method which comprises the following steps: measuring heave data of a ship body and a load in real time through a motion reference unit (MRU) mounted on the ship body and an inertial measurement unit (IMU) mounted on the load, calculating respective heave displacement, and inputting the heave displacement of the ship body into a predictive feedforward controller for processing; a feedforward control signal u1 (t) is obtained, a preset ideal displacement x0 is input into a displacement feedback controller, the difference between the preset ideal displacement x0 and the heaving displacement of the load is calculated to obtain delta x, the delta x is input into the displacement feedback controller, and a feedback control signal u2 (t) is obtained; and combining the feedforward control signal u1 (t) and the feedback control signal u2 (t) to obtain a control signal u (t), and inputting the control signal u (t) into a driving system to control cable arrangement, so that the relative positions of the ship body and the load in the vertical direction are kept stable.

    本发明公开了一种电驱动深海绞车主动波浪补偿控制方法,包括:通过安装于船体的运动参考单元MRU和安装于负载的惯性测量单元IMU实时测量船体和负载的升沉数据并计算出各自的升沉位移,将船体的升沉位移输入预测前馈控制器处理,得到前馈控制信号u1(t),向位移反馈控制器中输入预设理想位移x0,将预设理想位移x0与负载的升沉位移求差得到Δx输入位移反馈控制器中,得到反馈控制信号u2(t);将前馈控制信号u1(t)和反馈控制信号u2(t)进行结合,得到控制信号u(t)输入驱动系统中以控制排缆,使船体与负载在竖直方向的相对位置保持稳定。


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    Titel :

    Active wave compensation control method for electrically-driven deep sea winch


    Weitere Titelangaben:

    一种电驱动深海绞车主动波浪补偿控制方法


    Beteiligte:
    MAO LIFENG (Autor:in) / ZHAO YILIN (Autor:in) / DONG MINGXI (Autor:in) / HE YUHUA (Autor:in) / WANG CHENXING (Autor:in)

    Erscheinungsdatum :

    2023-06-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66D Haspeln , CAPSTANS



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