Research On Control System Of ROV Active Heave Compensation Based On Prediction Of Motion

With the continuously development of ocean exploration,the demand of underwater robotics is increasing day by day.And ROV is widely used in various complex underwater tasks.During the operation of ROV with TMS,the heave motion of the vehicle engaged in offshore operations is caused by sea waves,which affects the connection between the ROV and the TMS.Therefore,the establishment of an effective ROV heave compensation(winch)system can contribute to improving efficiency and safety of ROV operation.Based on the demand of ROV active heave compensation performance,the ROV active heave compensation system is studied through theoretical analysis and simulation calculation,and a displacement compensation control algorithm based on the prediction is presented.The details are as follows:Firstly,the research background and significance of this paper are introduced,as well as the heave compensation technology.The research results of heave compensation technology at home and abroad are summarized,and the main research contents are proposed.Secondly,the research on the response of the ship's heave motion caused by waves was carried out,and the prediction model of the ship heave motion was established to obtain the simulation sequence.Thirdly,the ROV active heave compensation device is determined by analyzing the ROV Lifting system.and the ROV active heave compensation system simulation model is established by using the dynamic equation of the heave compensation system.Finally,according to the payload characteristics and compensation performance requirements of the ROV active heave compensation system,an active disturbance rejection displacement compensation control algorithm is constructed.And based on prediction model of ship heave motion,an active disturbance rejection predictive control algorithm(ADRPC)is proposed to applying to displacement compensation system.The simulation results verify the good heave compensation performance of the ADRPC control algorithm in different sea states.And the requirement of ROV active heave compensation system is met.