Study On The Active Heave Compensation Control System

The offshore sealifts capacity of ship is an important factor that determines the maritime works and operational abilities of the navy. The effect of ocean wind, wave and flow causes a relative motion between the depot ship and the receiving ship, which interferes the sealift equipment and makes the replenishment operation extraordinarily hard. This problem can be effectively solved in a certain extent by heave compensation. The control system of heave compensation is the kernel of heave compensation systems (HCS). The performance and operation characteristic of control system are primary for the HCS operating safely and effectively.The fundamental principle of active heave compensation system (AHCS) is analyzed. The active heave compensation control system (AHCCS) is designed. A blended control strategy based on feed-forward compensating and feed-back adjusting method is presented. The feed-back controller is achieved by using the single neuron adaptive PID control method to advance the static and the dynamic performance of AHCCS, and the feed-forward controller is achieved by using the time series analysis prediction method to compensate the interference.The control model of AHCS is established. The feed-back part and feed-forward part are simulated by using the control arithmetic respectively and the blended control model is simulated as well. Based on the method of simulation for control system, the characteristic of the control system is tested by means of the AHCS scale model system. The results from the simulation and the testing of scale model indicate that the AHCCS has a good performance on two aspects of static and dynamic. It's proved that the design of AHCCS is effective and the control arithmetic is correct.